The paper tackles conceptual solutions and theoretical and experimental analysis methods to prototype a robotic system used in surgery. The system put forward consists of an actuation unit, a command and control unit, and a flexible unit. The flexible unit displays a complex structure consisting of rigid bodies (vertebrae) and deformable bodies (drive wires).

The present research study was carried out during three stages: establishing the mathematical models according to the analysis of the flexible unit movement, the development of virtual prototyping of the flexible unit, and the experimental study of the developed prototype.

The dynamic analysis of the flexible unit is based on the theory of multi-body systems; hence major challenge was to model the rigid-body and the deformable-body contact in reliance on the theory developed by Craig&Bampton. Nevertheless, the theoretical, virtual, and experimental results reported following our comparative analysis highly recommend the use of the prototype obtained in minimally invasive explorations.

该论文解决了概念解决方案以及理论和实验分析方法，以构建用于手术的机器人系统原型。提出的系统由执行单元、命令和控制单元和柔性单元组成。柔性单元显示由刚体（椎骨）和可变形体（驱动线）组成的复杂结构。

目前的研究工作分三个阶段进行：根据柔性单元运动的分析建立数学模型、柔性单元虚拟样机的开发和开发样机的实验研究。

柔性单元的动力学分析基于多体系统理论；因此，主要的挑战是根据 Craig&Bampton 开发的理论对刚体和可变形体接触进行建模。尽管如此，根据我们的比较分析报告的理论、虚拟和实验结果强烈建议使用在微创探索中获得的原型。