4-DOF Parallel Architecture for Laparoscopic Surgery
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 wordsparallel mechanisms robotic surgery minimally invasive surgery
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