Kinematical Analysis and Design of a New Surgical Parallel Robot D. Pisla, N. Plitea, B. Gherman, A. Pisla, C. Vaida Technical University of Cluj-Napoca, Constantin Daicoviciu 15, RO-400020 Cluj-Napoca, Romania, e-mail: Doina.Pisla@mep.utcluj.ro Abstract Robots in surgery are used because of their superior advantages: im- proved accuracy, tremor elimination etc, which exceeds human capabilities. Un- like serial robots, parallel robots offer higher stiffness, reduced masses in motion, higher rigidity, all of these leading more precise manipulations that fit medical ap- plications. In this paper, a new innovative parallel structure for laparoscopy is pre- sented. It is studied the forward and inverse kinematics, the singularities, it is gen- erated the workspace and are presented some simulation results. 1. Introduction The progress in medicine and engineering made it easy for these two fields to blend and use the robots for medical purposes. Robots are useful tools in minimal- ly invasive surgery (MIS) due to their capabilities, like: reducing the hand tremor, 3D visualization, workspace scaling, 360° wrist rotation. The most known commercial robotic system used today is the daVinci Surgical System developed by Intuitive Surgical [1]. The AESOP robotic arm, produced by Computer Motion and used to guide a tiny camera inside a body was actually the first robotic system used in surgery, dating from 1993 [2]. Prof. Moshe Shoham has performed extensive studies regarding: the perfor- mances of the surgeon in endoscopy, focused on the fulcrum effect[3]; the devel- opment of new miniaturized robots which can be mounted on the bones and a re- search regarding the different methods for scanning and surface recognition of bones before the surgical intervention [4]. [5] have developed a new robotic model designed for the MIS of the throat, which could manipulate of 2 up to 3 instru- ments for the suture and handling of soft tissue, using as single access route, the mouth of the patient. [6] presents the kinematics of a serial spherical mechanism used for MIS procedures. [7] have investigated the kinematic error correction for minimally invasive surgical robots. In [8] is presented a two-armed compact slave robot being designed for MIS of the throat. It has two robotic surgical arms