中文摘要：

研制开发了主从操作方式的喉部外科手术机器人系统，可以有效避免传统手术中医生操作的双手的干涉问题．在分析与综合支撑喉镜下喉部手术工作空间和动作要求的基础上，详细设计了从操作手的机械结构，并建立了机器人双臂的运动学方程，进行了系统运动可操作性分析．分析结果表明，直线移动关节不影响机构可操作性，系统具有较好的可操作性与可靠性，能够满足手术的要求．

英文摘要：

A master-slave mode robot-assisted laryngeal surgery system is developed, which can effectively avoid the interference of the doctor＇s operating hands in traditional surgery. Firstly, the mechanism design of the slave is presented in detail based on analyzing and synthesizing the workspace and operation requirements of the laryngeal surgery with laryngoscope. And then the kinematics equations of the two robotic arms are setup to make analysis on the kinematic manipulability. The analysis results show that manipulability of the mechanism isn＇t affected by the linear translational joint, and the whole system has better manipulability and reliability to satisfy the surgery requirements.