Abstract
A few years ago, we presented a new parallel robot kinematics (called “Dionis”) suitable for positioning an endoscopic tool above a patient, with a virtual center of rotation at the insertion point. A first prototype has been realized. This enables us to address a few specific mechanical design issues with the purpose of significantly increasing the stiffness of this design. FEM simulations presented here show promising results.
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References
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Acknowledgments
This research was supported by ROBO Medical Technology Co., Ltd. The authors would like to thank Professor Reymond Clavel for his expert eye on the parallel kinematic structures and his numerous valuable advices.
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Olivier, J., Bielmann, J., Bouri, M., Bleuler, H. (2018). Dionis Surgical Positioner. In: Ferraresi, C., Quaglia, G. (eds) Advances in Service and Industrial Robotics. RAAD 2017. Mechanisms and Machine Science, vol 49. Springer, Cham. https://doi.org/10.1007/978-3-319-61276-8_103
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DOI: https://doi.org/10.1007/978-3-319-61276-8_103
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