Kinematic analysis of a parallel robot for minimally invasive surgery - Archive ouverte HAL
Chapitre D'ouvrage Année : 2024

Kinematic analysis of a parallel robot for minimally invasive surgery

Résumé

The paper presents the kinematic modelling for the coupled motion of a 6-DOF surgical parallel robot PARA-SILSROB which guides a mobile platform carrying the surgical instruments, and the actuators of the sub-modules which hold these tools. To increase the surgical procedure safety, a closed form solution for the kinematic model is derived and then, the forward and inverse kinematic models for the mobile orientation platform are obtained. The kinematic models are used in numerical simulations for the reorientation of the endoscopic camera, which imposes an automated compensatory motion from the active instruments’ mod-ules.
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Dates et versions

hal-04596568 , version 1 (03-06-2024)

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Identifiants

  • HAL Id : hal-04596568 , version 1

Citer

Calin Vaida, Bogdan Gherman, Iosif Birlescu, Paul Tucan, Alexandru Pusca, et al.. Kinematic analysis of a parallel robot for minimally invasive surgery. 19th International Symposium on Advances in Robot Kinematics, Springer, 2024. ⟨hal-04596568⟩
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