Abstract
Considering the latest results in robotic assisted surgery it is obvious that robots became useful tools in minimally invasive surgery (MIS), providing benefits such as reduction in hand tremor, the possibility of reaching positions and places that could prove difficulty in reaching using classical instruments, navigation and workspace scaling. In this paper the inverse dynamic model for a parallel robot conceived for MIS using virtual work principle is presented. The results of the analytic dynamic model have been validated by means of a Multi-Body simulation.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Ben-Porat, O., Shoham, M., and Meyer, J., Control design and task performance in endoscopic teleoperation. MIT, 9:256–267, 2000.
BR Automation, http://br-automation.com/, 2009.
Brown University, Division of Biology and Medicine, http://biomed.brown.edu/, 2009.
Dizioglu, D., Getriebelehre, Band 3, Dynamik. Fried Vieweg und Sohn, Braunschweig, 1966.
Itul, T. and Pisla, D., On the solution of inverse dynamics for 6-DOF robot with triangular platform. In Proceedings of 1st European Conference EUCOMES, Obergurgl, 2006.
Ma, X.L. et al., Dynamic modeling and analysis of 4-DOF parallel mechanism. J. Jian. Univ., 28:337–380, 2007.
Maxon Motor AG, http://www.maxonmotor.com, 2009.
Merlet, J.-P., Parallel Robots. Kluwer Academic Publisher, 2000.
Pisla, D. and Kerle, H., Development of dynamic models for parallel robots with equivalent lumped masses. In Proceedings of 6th International Conference on Method and Models in Automation and Robotics, Miedzydroje, pp. 637–642, 2000.
Pisla, D., Plitea, N., Gherman, B., Pisla, A., and Vaida, C., Kinematical analysis and design of a new surgical parallel robot. In Computational Kinematics, Duisburg, pp. 273–282, 2009.
Plitea, N., Pisla, D., Vaida, C., and Gherman, B., Robot chirurgical. Patent Pending No. a00525/7.07.2009, Romania 2009.
Pollet, R. and Donnez, J., Using a Laparoscope Manipulator (LAPMAN_)in laparoscopic gynecological surgery. In Proceedings Surgical Technology International XVII - Gynecology, San Francisco, pp. 187–191, 2008.
Zakerzadeh, M.R., Tavakoli, M., Vossoughi, G.R., and Bagheri, S., Inverse kinematic/dynamic analysis of a new 4-DOF hybrid (serial-parallel) pole climbing robot manipulator. In: Proceedings of the 7th International Conference CLAWAR, Madrid, pp. 919–934, 2004.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 Springer Science+Business Media B.V.
About this paper
Cite this paper
Pisla, D. et al. (2010). On the Dynamics of a 5 DOF Parallel Hybrid Robot Used in Minimally Invasive Surgery. In: Pisla, D., Ceccarelli, M., Husty, M., Corves, B. (eds) New Trends in Mechanism Science. Mechanisms and Machine Science, vol 5. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9689-0_79
Download citation
DOI: https://doi.org/10.1007/978-90-481-9689-0_79
Published:
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-9688-3
Online ISBN: 978-90-481-9689-0
eBook Packages: EngineeringEngineering (R0)