GEOMETRIC MODEL AND DESIGN OF A NEW PARALLEL ROBOT USED IN MINIMALLY INVASIVE SURGERY

Alin STOICA, Doina PISLA

Abstract


Robotic assisted surgery allows surgeons to operate through infinitely smaller incisions, resulting in significantly less pain, scarring and recovery time for patients and for doctors providing benefits such as reduction in hand tremor, navigation, and workspace scaling. A new parallel architecture is proposed in this paper, the geometric model of this new structure is determined and the design of the robot is presented.

Key words: parallel robot, geometric model, design, minimally invasive surgery


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References


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