Workspace Analysis of 6-RSS Parallel Robot to Assist Cervical Laminectomy

Cervical laminectomy is a common clinical procedure to decompress the cervical spine. However, because of the limited operating space of cervical spine surgery, the surgeon's operation precision is required to be high. Robot-assisted surgery can usually achieve good precision by precise positioning and manipulation of the robot, while parallel robots can attain better precision due to their mechanical characteristics. Compared with other types of parallel robots, the 6-RSS has a simpler structure and lower mass of moving parts, and therefore performs better in human-robot interaction, which ensures the surgeon's precise operation. However, the kinematic analysis of 6-RSS parallel robots is usually more complicated than other types, making the workspace analysis difficult. In this paper, the theoretical mechanism model of the 6-RSS parallel robot was built and coordinates were defined. The workspace was analyzed to evaluate end rotation and movement ability, which can optimize the structural design and guide the robot design.