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Singularity Analysis of a Novel Minimally-Invasive-Surgery Hybrid Robot Using Geometric Algebra

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New Trends in Medical and Service Robots

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 39))

Abstract

The paper presents an analysis of the singularities of a novel type of medical robot for minimally invasive surgery (MIS) using the language of the geometric algebra. The analysis focuses on the parallel manipulator, which is the key component of the robot. The proposed new parallel manipulator provides a remote centre of motion located at the incision point of the patient’s body. The aim of the paper is to derive the geometric condition for singularity in terms of geometric algebra and thus to reveal the singular configurations in order to avoid them during the surgical procedure. The obtained geometric condition for singularity leads further to the derivation of the algebraic formulation of the singularity surface which is graphically presented.

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Authors and Affiliations

  1. Institute of Systems Engineering and Robotics, Bulgarian Academy of Sciences, Acad. G. Bonchev Str., B1.1, 1113, Sofia, Bulgaria

    Tanio K. Tanev

Authors
  1. Tanio K. Tanev
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Correspondence to Tanio K. Tanev .

Editor information

Editors and Affiliations

  1. Ecole Centrale de Nantes 1, Institut de Recherche en Communications, Nantes Cedex 03, France

    Philippe Wenger

  2. Ecole Centrale de Nantes 1, Inst Rec Comm Cybernetique Nantes, Nantes cedex 3, France

    Christine Chevallereau

  3. Research Center for Industrial Robo, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  4. IMT - LSRO1, EPFL, Lausanne, Switzerland

    Hannes Bleuler

  5. Robotics Laboratory, Mihajlo Pupin Institute, Belgrade, Serbia

    Aleksandar Rodić

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Tanev, T.K. (2016). Singularity Analysis of a Novel Minimally-Invasive-Surgery Hybrid Robot Using Geometric Algebra. In: Wenger, P., Chevallereau, C., Pisla, D., Bleuler, H., Rodić, A. (eds) New Trends in Medical and Service Robots. Mechanisms and Machine Science, vol 39. Springer, Cham. https://doi.org/10.1007/978-3-319-30674-2_2

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  • DOI: https://doi.org/10.1007/978-3-319-30674-2_2

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-30673-5

  • Online ISBN: 978-3-319-30674-2

  • eBook Packages: EngineeringEngineering (R0)

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