A Dual-Armed Robotic Puncture System: Design, Implementation and Preliminary Tests

Traditional renal puncture surgery requires manual operation, which has a poor effect, low surgical success rate, and high incidence of postoperative complications. Robot-assisted can effectively improve the accuracy punctures, rate surgery, reduce occurrence This paper provides dual-armed robotic scheme to assist surgeons. The system is divided into an ultrasound scanning arm arm. Both arms with compliant positioning function master–slave control are designed, respectively, achieved. arm’s position posture decoupled by wrist RCM mechanism decoupling mechanism. According independent joint principle, realized based on single-joint human–computer interactive admittance control. simulation tests verify its functions performance. differential motion incremental mapping strategy used realize function. error feedback link introduced solve cumulative problem in prototype established animal effectiveness.