A parallel kinematics mechanism (100) is provided for uses such as robotics or machining The mechanism has various limbs (A1, A2, A3, A4, A5) designed as elbow-linkages, at least some of which are actuatable, for moving an end component (40) with multiple workspace-to-footprint ratio and a closed-form solution for the forward kinematics The mechanism comprises a joint assembly (J1, J2) having a plurality of revolute joints for connecting to at least three limbs (5, 15) In various embodiments of the invention, the end component (40) has three, four, five and six degrees of freedom

Parallel kinematics mechanism with a concentric spherical joint

J. DAnwl B8NrL.nd, Ph.D., isIlssU14nt professor Andhed, Physic Section, Dep.:ntm ent ofR.4dUaion Oncology, Wa e Forest Unit/miry School of Medicine in Winston-Salem, N.G. He ischairman ofthe AAPM Electronic Media Coordinating Committee, chairman ofthe new AAPM Subcommitteeon MoieCHlaTImaging in Clinical Radiation Oncology, and aformer member ofthe AAPM RildiAtion Therllpy Committee. The AAPM is headqNllTtered in College PIlTk, Md. WHO WE ARE The America n Assoc iation of Physicists in Medicine (AAPM) h J S ap proximately 4.62S mcmbers who practice or arc associn ed with medical physics.

American Association of Physicists in Medicine

The large interest in utilising fibre Bragg grating (FBG) strain sensors for minimally invasive surgery (MIS) applications to replace conventional electrical tactile sensors has grown in the past few years. FBG strain sensors offer the advantages of optical fibre sensors, such as high sensitivity, immunity to electromagnetic noise, electrical passivity and chemical inertness, but are not limited by phase discontinuity or intensity fluctuations. FBG sensors feature a wavelength-encoding sensing signal that enables distributed sensing that utilises fewer connections. In addition, their flexibility and lightness allow easy insertion into needles and catheters, thus enabling localised measurements inside tissues and blood. Two types of FBG tactile sensors have been emphasised in the literature: single-point and array FBG tactile sensors. This paper describes the current design, development and research of the optical fibre tactile techniques that are based on FBGs to enhance the performance of MIS procedures in general. Providing MIS or microsurgery surgeons with accurate and precise measurements and control of the contact forces during tissues manipulation will benefit both surgeons and patients.

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Advances in bio-tactile sensors for minimally invasive surgery using the fibre Bragg grating force sensor technique: a survey.

A new class of reconfigurable parallel kinematic machines

In this paper, a bio-inspired parallel manipulator with one translation along z-axis and two rotations along x- and y- axes is developed as the hybrid head mechanism of a groundhog robotic system. Several important issues including forward kinematic modeling, performance mapping, and multi-objective improvement are investigated with specific methods or technologies. Accordingly, the forward kinematics is addressed based on the integration of radial basis function network and inverse kinematics. A novel performance index called dexterous stiffness is defined, derived and mapped. The multi-objective optimization with particle swarm algorithm is conducted to search for the optimal dexterous stiffness and reachable workspace.

Forward kinematics, performance analysis, and multi-objective optimization of a bio-inspired parallel manipulator

During the last years, there has been an increase in research in the field of medical robots. This trend motivated the development of a new robotics field called ''robotic-assisted minimally invasive surgery''. The paper presents the kinematic and dynamic behavior of a parallel hybrid surgical robot PARASURG-9M. The robot consists of two subsystems: a surgical robotic arm, PARASURG 5M with five motors, and an active robotized surgical instrument PARASIM with four motors. The methodology for the robot kinematics is presented and the algorithm for robot workspace generation is described. PARASURG-9M inverse dynamic simulation is performed using MSC Adams and finally some numerical and simulation results of the developed experimental model with its system control are also described.

An active hybrid parallel robot for minimally invasive surgery

Reconfigurable robots can be defined as a group of robots that can have different geometries, thus obtaining different structures derived from the basic one, having different degrees of freedom and workspaces. Thanks to the optimum dexterity they offer, the user can accomplish a large variety of industrial tasks, using a structurally optimized robot leading towards better energy control and efficiency especially in case of batch size production lines where the task (for the robot) may vary periodically. Reconfigurable systems are a challenge for numerous scientists, due to the advantage of dealing with changes and uncertainties on the ever-changing manufacturing market. One of the main problems of reconfigurable robots is the proper structural geometry determination, so that the resulting structure is able to perform a variety of tasks. This paper presents the structural design of an innovative parallel robot with six degrees of freedom and its proposed configurations with five, four, three and two degrees of freedom. The kinematic analysis and the workspace representations of all the presented configurations of the parallel robot, called Recrob, are also presented. Highlights? The importance of reconfigurable systems is explained. ? The structural design of a robot with up to six degrees of freedom is described. ? The kinematics of the reconfigurable robot is studied and a simulation is made. ? The reconfigurability of the parallel robot Recrob is explained. ? The workspace of all the configurations of the robot is studied.

Structural design and kinematics of a new parallel reconfigurable robot

Robotic-assisted surgery is a continuously developing field, as robots have demonstrated clear benefits in the operating room. This paper presents the inverse dynamic model (in the case of using the laparoscope as a surgical instrument) and some characteristics of a 5-DOF hybrid parallel robot designed for minimally invasive surgery. The new inverse dynamic model is obtained using the virtual work method on the basis of dynamically equivalent lumped masses. The simulation and numerical results have been obtained for the experimental model of the developed PARASURG-5M robot, showing that the analytical inverse dynamic model could be used in the control of the robot. Finally, a comparison between the simulation data obtained in Matlab (IDM) with the simulation data through a Multi-body Simulation software (MBS), namely Adams (MBS) has been performed.

Development of inverse dynamic model for a surgical hybrid parallel robot with equivalent lumped masses

The geometric and kinematic models of a new surgical hybrid robot used for camera and active instruments positioning are presented in this paper. The robot workspace is computed and illustrated following the singularities analysis. The robot structure consists of two modules: the PARAMIS robot, and the new serial positioning module. The serial positioning module is used to obtain a mechanically fixed remote center of motion (RCM), enabling the structure to manipulate also active instruments. The new robot provides the necessary motion control to respect the particularities and restrictions of surgical applications. The detailed workspace analysis demonstrates the importance of the relative positioning between the robot and the patient. A constructive solution of the new serial module, the numerical results and conclusions from the performed simulations are described.

Kinematics and workspace modeling of a new hybrid robot used in minimally invasive surgery

Parallel robots offer higher stiffness and smaller mobile mass than serial ones, thus allowing faster and more precise manipulations that fit medical applications, especially surgery. This paper presents the kinematic modeling and a method for workspace generation for a new parallel robot used for minimally invasive surgery. Using the developed model of the parallel robot and the kinematic modeling, some numerical and simulation tests are presented.

Nicolae Plitea

Papers

An active hybrid parallel robot for minimally invasive surgery

Structural design and kinematics of a new parallel reconfigurable robot

Development of inverse dynamic model for a surgical hybrid parallel robot with equivalent lumped masses

Kinematics and workspace modeling of a new hybrid robot used in minimally invasive surgery

Kinematic Modeling and Workspace Generation for a New Parallel Robot Used in Minimally Invasive Surgery