4-DOF Parallel Architecture for Laparoscopic Surgery

  • Mohammad Aamir Khan
  • Matteo Zoppi
  • Rezia Molfino


This paper analyzes a new laparoscopic surgical setup with two surgical robots. Requirements and constraints are outlined and the architecture selected for the surgical robots is presented and discussed. Analytical models of the inverse and forward kinematics are provided together with a detailed analysis of mobility and constraints. The velocity kinematics is addressed and singularity analysis outlined.

Key words

parallel mechanisms robotic surgery minimally invasive surgery 


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Copyright information

© Springer Science+Business Media B.V 2008

Authors and Affiliations

  • Mohammad Aamir Khan
    • 1
  • Matteo Zoppi
    • 1
  • Rezia Molfino
    • 1
  1. 1.DIMECUniversity of GenovaGenovaItaly

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