Abstract
The paper presents the workspace and singularity analysis of a parallel robot, which can handle both a laparoscope or an active instrument in minimally invasive surgery (MIS). Using the inverse geometric model of the robot the analytical workspace is achieved. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. Finally, an in-depth study of different types of singularity is performed and some conclusions are presented.
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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 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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Stoica, A., Pisla, D., Szilaghyi, A., Gherman, B., Plitea, N. (2013). Workspace and Singularity Analysis for a Parallel Robot Used in Surgical Applications. In: Viadero, F., Ceccarelli, M. (eds) New Trends in Mechanism and Machine Science. Mechanisms and Machine Science, vol 7. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-4902-3_16
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DOI: https://doi.org/10.1007/978-94-007-4902-3_16
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