抄録
In this paper, a surgical motion base for neurosurgery is presented. By introducing a new parallel mechanism, high rigidity and accuracy can be implemented by composing remote center of motions and a linear motion into a parallel mechanism. The robot can be easily mounted on a conventional surgical head frame. A 3 DOF passive mechanism is introduced for adjusting the robot position on the head frame. Mechanical evaluations are conducted and reported in this paper.
