Abstract
Background The aim of this study lies in the development of a hybrid Cartesian robot for knee joint surgeries, to eliminate the shortcomings of existing surgical robots. Methods To develop a hybrid Cartesian robot, we used a combination of a Cartesian manipulator and a serial manipulator, both with three degrees of freedom (DOF). Results A 3D model of a hybrid Cartesian robot for knee joint surgery is developed, and a prototype is designed in a simplified form based on this model. The experimental tests of the 6DOF prototype of the hybrid Cartesian robot used for knee joint surgery confirmed its good performance when cutting hard cow bone. Conclusion To eliminate the disadvantages in surgical robots used for knee joint operations, a hybrid Cartesian robot has been developed. The hybrid Cartesian robot has the strengths of parallel and serial robots, potentially eliminating the main disadvantage of their designs.