Kinematic analysis on 6-DOF finger of minimally invasive surgical robot

6-DOF manipulator of minimally invasive surgical robot is an important component of minimally invasive surgery robot,and the main body for operation.While the kinematics forward and reverse solutions of the manipulator is one of the key technolo-gies for study on the minimally invasive surgical robot.In this paper,the research on its kinematics forward solution is carried out,and the kinematics reverse solution is solved depending on the method of separation posture from position,the kinematics forward and reverse solutions are simulated and verified by using SimuLink in MATLAB,having laid the foundation for further development of minimally invasive surgery robot.