Journal ArticleDOI
Kinematics and workspace modeling of a new hybrid robot used in minimally invasive surgery
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The geometric and kinematic models of a new surgical hybrid robot used for camera and active instruments positioning are presented in this article, where the robot workspace is computed and illustrated following the singularities analysis.Abstract:
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.read more
Citations
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Journal ArticleDOI
Advances in bio-tactile sensors for minimally invasive surgery using the fibre Bragg grating force sensor technique: a survey.
TL;DR: 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 are described.
Journal ArticleDOI
An improved Monte Carlo method based on Gaussian growth to calculate the workspace of robots
TL;DR: The proposed Gaussian Growth method can generate more accurate workspaces than previous methods requiring the same or less computation time and is compared with previous Monte Carlo methods using a 10-degrees-of-freedom robot.
Journal ArticleDOI
A Class of 2-Degree-of-Freedom Planar Remote Center-of-Motion Mechanisms Based on Virtual Parallelograms
Journal ArticleDOI
Analysis of a hand arm system
Daniela Tarnita,Dan B. Marghitu +1 more
TL;DR: The time series of the wrist joint of the artificial hand system is concluded that the movement is periodic and for a better understanding of the robotic system next the motion of human hand arm is studied.
Book ChapterDOI
Numerical Simulations and Experimental Human Gait Analysis Using Wearable Sensors
TL;DR: A comparison between an experimental study of flexion-extension movement in human legs joints and numerical simulations on a virtual mannequin computed in ADAMS virtual environment is presented.
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.
Patent
Remote center-of-motion robot for surgery
TL;DR: In this article, an apparatus used to assist a surgeon in surgery is divided into two parts, proximal and distal, which cooperate in a way to move the manipulator about a center-of-motion with orthogonally decoupled degrees of freedom resolved at the work point.
Journal ArticleDOI
Jacobian Analysis of Limited-DOF Parallel Manipulators
Sameer A. Joshi,Lung-Wen Tsai +1 more
TL;DR: In this article, the authors presented a methodology for the Jacobian analysis of limited degrees-of-freedom (DOF) parallel manipulators, which is defined as a spatial parallel manipulator with less than six degrees of freedom.
Proceedings ArticleDOI
Constraint singularities of parallel mechanisms
TL;DR: The concept of constraint singularity is introduced, a phenomenon occurring in parallel mechanisms with reduced freedoms when the screw system, formed by the constraint wrenches in all legs, loses rank.