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Mechanisms, Transmissions and Applications pp 255–262Cite as

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

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Part of the book series: Mechanisms and Machine Science ((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.

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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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Authors and Affiliations

  1. Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    M. Suciu, B. Gherman, C. Vaida, N. Plitea, A. Stoica & D. Pisla

Authors
  1. M. Suciu
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  2. B. Gherman
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  3. C. Vaida
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  4. N. Plitea
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  5. A. Stoica
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  6. D. Pisla
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Corresponding author

Correspondence to D. Pisla .

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Editors and Affiliations

  1. , Mechanical Engineering Faculty, Politehnica University of Timişoara, Bv. Mihai Viteazul 1, Timişoara, RO-300222, Romania

    Erwin-Christian Lovasz

  2. , University Aachen, RWTH Aachen, Eilfschornsteinstrasse 18, Aachen, 52056, Germany

    Burkhard Corves

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© 2012 Springer Science+Business Media B.V.

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Suciu, M., Gherman, B., Vaida, C., Plitea, N., Stoica, A., Pisla, D. (2012). On the Kinematics of a Hybrid Parallel Robot Used in Minimally Invasive Surgery. In: Lovasz, EC., Corves, B. (eds) Mechanisms, Transmissions and Applications. Mechanisms and Machine Science, vol 3. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-2727-4_23

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  • DOI: https://doi.org/10.1007/978-94-007-2727-4_23

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  • Publisher Name: Springer, Dordrecht

  • Print ISBN: 978-94-007-2726-7

  • Online ISBN: 978-94-007-2727-4

  • eBook Packages: EngineeringEngineering (R0)

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