Kinematics modeling and simulation optimization of breast puncture robot

The purpose of this study is to design a hybrid puncture robot specifically designed for MRI guided breast puncture surgery. The robot has five degrees of freedom and is composed of a series parallel hybrid mechanism and a 2 degree of freedom needle feeding module. Through decoupling the seriesparallel hybrid mechanism, kinematics modeling is performed, a D-H parameter relationship table is established, forward kinematics analysis and calculation are performed, and a three-dimensional workspace is drawn using Python. The robot structure is optimized based on workspace analysis. Finally, the accuracy of the robot kinematics model and the rationality of the structural design are verified using the Adams simulation results. This research provides a new idea and method for the application of robots in breast puncture surgery.