INVERSE DYNAMIC MODEL OF A NEW PARALLEL ROBOT USED IN MINIMALLY INVASIVE SURGERY

Alin STOICA, Bogdan GHERMAN, Calin VAIDA, Doina PISLA, Nicolae PLITEA

Abstract


Due to robotic assisted surgery the surgeons can operate through infinitely smaller incisions, resulting some benefits for the patients, like: less trauma, reduced blood loss, shorter recovery time, as well as for doctors, providing benefits such as reduction in hand tremor, 3D visualization and workspace scaling. Using the principle of virtual work, the inverse dynamic model of a new parallel architecture is determined and some simulation results are presented in this paper.

Key words: parallel robot, inverse dynamic model, minimally invasive surgery, simulation results


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References


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