Haptic interfaces play a critical role in medical teleoperation by enabling surgeons to interact with remote environments through realistic force and motion feedback. Achieving high fidelity in such systems requires balancing performance trade-off among workspace, dexterity, stiffness, inertia, and bandwidth, particularly in applications demanding pure rotational motion. This paper presents the design methodology and kinematic analysis of a Cable-Driven Coaxial Spherical Parallel Mechanism (CDC-SPM) developed to address these challenges. The proposed cable-driven interface design allows for reducing the mass placed at the robot arm end-effector, thereby minimizing inertial loads, enhancing stiffness, and improving dynamic responsiveness. Through parallel and coaxial actuation, the mechanism achieves decoupled rotational degrees of freedom with isotropic force and torque transmission. Simulation and analysis demonstrate that the CDC-SPM provides accurate, responsive, and safe motion characteristics suitable for high-precision haptic applications. These results highlight the mechanism's potential for medical teleoperation tasks such as ultrasound imaging, where precise and intuitive manipulation is essential.

翻译：触觉接口在医疗远程操作中发挥着关键作用，通过提供真实的力与运动反馈，使外科医生能够与远程环境进行交互。在此类系统中实现高保真度需在工作空间、灵巧性、刚度、惯性与带宽等性能指标间取得平衡，尤其在需要纯旋转运动的应用中。本文提出了一种线驱动同轴球面并联机构的设计方法与运动学分析，旨在应对这些挑战。所提出的线驱动接口设计可减少机器人臂末端执行器的质量，从而降低惯性负载、增强刚度并提升动态响应能力。通过并联与同轴驱动，该机构实现了具有各向同性力与力矩传递的解耦旋转自由度。仿真与分析表明，该线驱动同轴球面并联机构具备精确、响应迅速且安全的运动特性，适用于高精度触觉应用。这些结果凸显了该机构在医疗远程操作任务（如超声成像）中的潜力，其中精确且直观的操控至关重要。