On the Kinematics of a Hybrid Parallel Robot Used in Minimally Invasive Surgery

  • M. Suciu
  • B. Gherman
  • C. Vaida
  • N. Plitea
  • A. Stoica
  • D. PislaEmail author
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 3)


The paper presents some aspects about the kinematics of a hybrid parallel robot used in minimally invasive surgery: PARASURG 9 M. The robotic structure PARASURG 9 M consists of two modules: a hybrid parallel robotic arm with five DOF - PARASURG 5 M, and a parallel robotic surgical instrument PARASIM with four DOF. After a short introduction in the approached field, the hybrid parallel structure PARASURG 9 M is presented. Using the developed geometrical models, some numerical results of PARASURG 9 M are presented.


Kinematics Hybrid parallel robot Minimally invasive surgery (MIS) Spherical parallel mechanism (SPM) Simulation 



This paper was supported by the project “Development project for doctoral studies in advanced technologies – “PRODOC” contract no. POSDRU/88/1.5/S/61178, project co-funded by the European Social Fund through the Sectorial Operational Program Human Resources 2007-2013.The research work was financed by PNCDI-2 P4 Grant: “Innovative development of a virtual e-learning system for hepatic laparoscopic surgery - HEPSIM” No. 92080/2008.


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Copyright information

© Springer Science+Business Media B.V. 2012

Authors and Affiliations

  • M. Suciu
    • 1
  • B. Gherman
    • 1
  • C. Vaida
    • 1
  • N. Plitea
    • 1
  • A. Stoica
    • 1
  • D. Pisla
    • 1
    Email author
  1. 1.Technical University of Cluj-NapocaCluj-NapocaRomania

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