Compared to the serial design commonly used in industrial robotic arms, parallel manipulators can handle high loads with a compact volume and weight and offer advantages such as high rigidity and precision. They are well-suited for minimally invasive spinal surgery applications where the space is tight and both soft and hard tissues are involved. This study focuses on the development of a collaborative control system for a parallel robotic manipulator used in spinal surgery. The goal is to assist surgeons in precisely guiding surgical instruments along the planned path using the information from computed tomography and optical tracking device.
