Parallel Non-Surgical Robot Used in the Medical Field: A Review

This review systematically examines recent technological advancements in medical robotics, with a particular focus on the design, functionality, and clinical integration of non-surgical robotic platforms used across various healthcare applications. Using scientific and medical databases, a literature search was carried out (PubMed and Web of Science) to analyze studies from 2015 to the present. From the chosen literature, details on the kinematic and mechanical characteristics were taken. Previous studies focused on whole-body recovery, limb rehabilitation, and the long-term effects of medical robots and wearable exoskeletons. Parallel rehabilitation robots have been considered and classified according to architectural and design elements. Most rehabilitation robot designs support flexion-extension, adduction-abduction (radial-ulnar deviation), pronation-supination, and internal-external rotation movements. However, with a few notable exceptions, most wearable robots do not support abduction (radial-ulnar deviation). The conclusions of this research are as follows: the use of parallel robots enables complicated and specific spatial movements. Due to its parallel construction, the robot has higher stiffness, a more even dispersion of forces, and a better capacity to adapt to the mechanical characteristics of human joints. Most rehabilitation robot designs support supination-pronation, adduction-abduction (radial-ulnar deviation), flexion-extension, and internal-external rotation motions. However, with a few notable exceptions, most wearable robots do not support the adduction-abduction action (radial-ulnar deviation). Robotic rehabilitation devices have great potential, but very few of them have been made available for purchase. Many ideas are not created to become commercialized or even used for personal purposes.