Robots with multiple degrees-of-freedom (DoFs) are being used in the surgical field more frequently over the last decade, not as an alternative but a main method for minimally invasive surgeries. Surgical robots allow surgeons to perform surgical procedures more steadily and more accurately. In this paper, a newly designed 6-DoF manipulator for minimally invasive scaphoid surgery is introduced with its kinematic model. Given the conditions in the operating theatre, especially for the orthopaedic surgery, a sectioned trajectory planning method is proposed in order to prevent the manipulator from colliding with wounded wrist joints. Simulation results show that this approach is well performed to generate a smooth trajectory and ready for clinical trials.

中文翻译：

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用于骨科手术的6自由度机械手的轨迹规划

在过去的十年中，具有多个自由度（DoF）的机器人在外科领域得到了越来越多的使用，这不是微创手术的替代方法，而是一种主要方法。手术机器人使外科医生能够更稳定，更准确地执行手术程序。在本文中，介绍了一种新设计的用于微创舟骨手术的6-DoF机械手及其运动学模型。考虑到手术室的条件，尤其是骨科手术的情况，提出了一种分段轨迹规划方法，以防止机械手与受伤的腕关节碰撞。仿真结果表明，该方法性能良好，可以生成平滑的轨迹，并准备用于临床试验。