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Kinematic modelling of a 5-DOF hybrid parallel robot for laparoscopic surgery*

Published online by Cambridge University Press:  10 January 2012

Doina Pisla ,
Bogdan Gherman ,
Calin Vaida  and
Nicolae Plitea
Doina Pisla
Affiliation:
Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania
Bogdan Gherman*
Affiliation:
Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania
Calin Vaida
Affiliation:
Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania
Nicolae Plitea
Affiliation:
Technical University of Cluj-Napoca, Memorandumului 28, RO-400114 Cluj-Napoca, Romania
*
†Corresponding author. E-mail: bogdangherman@gmail.com
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Summary

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.

Keywords

Parallel hybrid robotMinimally invasive surgeryKinematicsSimulation
Type
Articles
Information
Robotica , Volume 30 , Issue 7 , December 2012 , pp. 1095 - 1107
Copyright
Copyright © Cambridge University Press 2012

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Footnotes

*

The scientific contribution is equally divided between the authors.

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