Journal ArticleDOI
Kinematic modelling of a 5-dof hybrid parallel robot for laparoscopic surgery*
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TLDR
The kinematic modelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants of this structure is determined, and following the analysis of singularities, the best variant is chosen.Abstract:
Robotic-assisted surgery is a continuously developing field because robots have demonstrated clear benefits in operating rooms. Until now, vast majority of robots used in surgery had serial structures. This paper presents the kinematic modelling of a 5-degree of freedom hybrid parallel architecture in two slightly different variants. The kinematics of this structure is determined, and following the analysis of singularities, the best variant is chosen. The robot workspace is computed and finally the experimental model and some simulation results are presented.read more
Citations
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An active hybrid parallel robot for minimally invasive surgery
TL;DR: The paper presents the kinematic and dynamic behavior of a parallel hybrid surgical robot PARASURG-9M and some numerical and simulation results of the developed experimental model with its system control are also described.
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Configuration comparison among kinematically optimized continuum manipulators for robotic surgeries through a single access port
TL;DR: This paper presents a comparison for kinematic performances among three different continuum manipulators and provides scalable results for a wide spectrum of continuum manipulator designs as long as their segments have a constant curvature.
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Stiffness analysis of a metamorphic parallel mechanism with three configurations
TL;DR: A novel metamorphic parallel mechanism for robotic legs is proposed based on an innovative rotatable-axis revolute joint based on the screw theory, which is expected to lay a good theoretical foundation for the application of this novel mechanism.
Journal ArticleDOI
Modeling, design and experiment of a remote-center-of-motion parallel manipulator for needle insertion
TL;DR: In this article, a 2-CRRR-CRR parallel manipulator was proposed for single needle insertion with high accuracy, where C denotes a cylindrical joint and R a revolute joint.
References
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Book
Parallel Robots
TL;DR: This book presents a complete synthesis of the latest results on the possible mechanical architectures, analysis and synthesis of this type of mechanism, Parallel robots, which are becoming increasingly popular in the field of machine-tool industry.
Journal ArticleDOI
Singularity analysis of closed-loop kinematic chains
Clément Gosselin,Jorge Angeles +1 more
TL;DR: The different kinds of singularities encountered in closed-loop kinematics chains are analyzed and a general classification of these singularities in three main groups, based on the properties of the Jacobian matrices of the chain, is described.
Journal ArticleDOI
A telerobotic assistant for laparoscopic surgery
Russell H. Taylor,Janez Funda,B. Eldridge,S. Gomory,K.G. Gruben,David Arthur Larose,Mark A. Talamini,Louis R. Kavoussi,James H. Anderson +8 more
TL;DR: A new generation of "intelligent" surgical systems that can work cooperatively with a human surgeon to off-load routine tasks, reduce the number of people needed in the operating room, and provide new capabilities that complement the surgeon's own skills are developed.
Proceedings ArticleDOI
A dexterous system for laryngeal surgery
TL;DR: A novel high DoF (degrees-of-freedom) system being developed for minimally invasive surgery of the throat to allow remote operation of 2-3 tools with high tip dexterity to enable suturing and soft-tissue manipulation while using the patient's mouth as the only entry port.
Journal ArticleDOI
DLR MiroSurge: a versatile system for research in endoscopic telesurgery.
Ulrich Hagn,Rainer Konietschke,Andreas Tobergte,Mathias Nickl,Stefan Jörg,Bernhard Kübler,Georg Passig,Martin Gröger,Florian Fröhlich,Ulrich Seibold,Luc Le-Tien,Alin Albu-Schaffer,Alexander Nothhelfer,Franz Hacker,Markus Grebenstein,Gerd Hirzinger +15 more
TL;DR: While the components of the MiroSurge system are shown to fulfil the rigid design requirements for robotic telesurgery with force feedback, the system remains versatile, which is supposed to be a key issue for the further development and optimisation.