Abstract
The geometric and kinematic analysis of a surgical parallel robot, used for camera and active instruments positioning is presented in this paper. Its workspace is also illustrated. The robot structure consists of two modules: the PARAMIS robot and the new parallel positioning module. The use of this new parallel structure in surgery presents the following advantages: it releases some of the pressure on the abdominal wall in certain positions of the robot and the new robot may be used either as laparoscope holder or as manipulator of active instruments, used for cutting, suturing, grasping etc. The new robot provides the necessary control of motion to fulfil the imposed tasks in the case of surgical applications. Numerical results and conclusions from the performed simulations are described.
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Acknowledgements
This paper was supported by the projects “Doctoral studies in engineering sciences for developing the knowledge based society-SIDOC” contract no. POSDRU/88/1.5/S/60078, “Development and support of multidisciplinary postdoctoral programmes in major technical areas of national strategy of RDI” 4D-POSTDOC, POSDRU/89/1.5/S/52603, both co-funded from European Social Fund through Sectorial Operational Program Human Resources 2007-2013 and Scopes International Grant IZ74Z0-137361 entitled “Creative Alliance in Research and Education focused on Medical and Service Robotics (CARE-Robotics)”.
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Szilaghyi, A., Stoica, A., Pisla, D., Vaida, C., Plitea, N. (2012). Kinematics Analysis of a Parallel Surgical Robot. In: Lenarcic, J., Husty, M. (eds) Latest Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4620-6_42
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DOI: https://doi.org/10.1007/978-94-007-4620-6_42
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