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To improve the preoperative positioning efficiency and terminal operability of the minimally invasive surgical robot，a new multi-slave manipulator system of minimally invasive surgical robot is designed，which includes the preoperative positioning mechanism and the remote-center mechanism. Three surgical instrument arms and one endoscopic arm can be installed on the base. The fixed point of the end can be realized through the parallelogram mechanism in the remote-center mechanism，and the workspace can be increased by adding redundant DOF on the basis of the pitch，roll，and translation DOFs. To facilitate the doctor to adjust the height of the remote-center mechanism before the operation，the gravity compensation joint of the preoperative positioning mechanism is compensated for the gravity of the remote-center mechanism by the constant force spring. Based on the structural design of the multi-slave manipulator system，the forward kinematic analyses of the active part and the passive part are carried out. Since the preoperative positioning mechanism is used for preoperative positioning on the active part and each joint of the passive part will be locked during the operation，the inverse kinematics and the workspace of the active part are only analyzed. By comparing the motion trajectory simulated by SolidWorks with the motion trajectory of the end of the robot obtained by Matlab，the rationality of the structure of the multi-slave manipulator system and the correctness of the kinematics can be verified.