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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)

Abstract

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.

Keywords

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

Notes

Acknowledgements

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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