Kinematic Modeling of a SCARA-Type Medical Manipulation Robot Accounting for Non-Parallelism of Rotational Axes and a Manual End-Effector With Four Degrees of Freedom

This paper presents a kinematic analysis of a two-joint SCARA-type medical manipula-tion robot, accounting for non-parallelism of the rotational axes and incorporating a man-ual end-effector with four degrees of freedom. A kinematic model integrating the end-effector is developed, and the inverse kinematics problem is solved. The proposed ap-proach is demonstrated on a medical manipulation robot designed for transpedicular spi-nal fixation procedures.