Proceedings ArticleDOI
The PantoScope: a spherical remote-center-of-motion parallel manipulator for force reflection
R. Baumann,W. Maeder,D. Glauser,R. Clavel +3 more
- Vol. 1, pp 718-723
TLDR
The design of a novel spherical remote-center-of-motion manipulator for force reflection in a laparoscopic surgery simulation environment is discussed and a description of the pantograph-linkage based parallel structure is presented.Abstract:
Force reflecting manual man-machine interfaces can provide the user with useful kinesthetic information in teleoperation tasks and virtual reality applications. In this paper we discuss the design of a novel spherical remote-center-of-motion manipulator for force reflection in a laparoscopic surgery simulation environment. A description of the pantograph-linkage based parallel structure is presented together with a discussion of its direct and inverse geometric models, instantaneous kinematics and statics, and usable workspace.read more
Citations
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Journal ArticleDOI
Kinematic design considerations for minimally invasive surgical robots: an overview.
TL;DR: This work has shown that kinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS) and the design issues for MIS robots need to be addressed.
Journal ArticleDOI
Design and Development of the Cable Actuated Finger Exoskeleton for Hand Rehabilitation Following Stroke
TL;DR: This paper presents the design and development of the CAFE, a three-degree-of-freedom robotic exoskeleton for the index finger, with performance testing results.
Book ChapterDOI
Robotics for Minimally Invasive Surgery: A Historical Review from the Perspective of Kinematics
Chin-Hsing Kuo,Jian S. Dai +1 more
TL;DR: The development of robotics from the perspective of kinematics in MIS during the past twenty years is reviewed taking account of the kinematic structures of the manipulator design of the robots.
Journal ArticleDOI
Classification and type synthesis of 1-DOF remote center of motion mechanisms
TL;DR: In this paper, existing 1-DOF RCM mechanisms are first classified, then base on a proposed concept of the planar virtual center (VC) mechanism, which is a more generalized concept than a RCM mechanism, two approaches of type synthesis are addressed.
Journal ArticleDOI
Haptic Device Using a Newly Developed Redundant Parallel Mechanism
TL;DR: The key features of DELTA-R, as compared with conventional parallel mechanisms, are redundant actuation, a smaller footprint, a larger working area, and improved access to the end effector.
References
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Book
Introduction to Robotics
TL;DR: Invention to Robotics provides both an introductory text for students coming new to the field and a survey of the state of the art for professional practitioners.
Book
Kinematic geometry of mechanisms
TL;DR: The components of mechanism freedom and structure in mechanism elementary planar and spatial displacements planar algebraic curves infinitesimal planar kinematics planar displacements through three and more locations the four-bar linkage - coupler curves the geometrical capability of planar mechanisms three-dimensional geometry and spatial mechanism some spatial mechanisms line geometry, and spatial mechanisms screw systems screw systems applied to spatial mechanisms body guidance in three dimensions manipulator-arms and other linkageconnections.
Proceedings ArticleDOI
Specification and design of input devices for teleoperation
P. Fischer,R.W. Daniel,K.V. Siva +2 more
TL;DR: The general features of existing and potential designs are described, and their performance is analyzed in relation to previously generated specifications.