The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools. To increase the surgical procedure safety, a closed form solution for the kinematic model is derived and then, the forward and inverse kinematic models for the mobile orientation platform are obtained. The kinematic models are used in numerical simulations for the reorientation of the endoscopic camera, which imposes an automated compensatory motion from the active instruments' mod-ules.

翻译：本文提出了一种6自由度手术并联机器人PARA-SILSROB的运动学建模方法，该机器人引导搭载手术器械的移动平台以及固定这些器械的子模块执行器。为提高手术过程的安全性，推导了运动学模型的封闭解，进而获得了移动定向平台的正向和逆向运动学模型。通过数值模拟，将运动学模型应用于内窥镜摄像头的重新定向，该过程要求主动器械模块执行自动补偿运动。