DESIGN AND STRUCTURAL ANALYSIS OF PARASURG-9M PARALLEL HYBRID SURGICAL ROBOTIC SYSTEM
In the paper the parallel hybrid surgical robotic system PARASURG-9M is presented. The structure contains two modules: a robotic arm PARASURG 5M with five degrees of freedom (DOF), and an active robotized surgical instrument PARASIM with four DOF. The paper begins with a brief introduction in the approached field and continues with the description of the CAD model of the surgical PARASURG-9M hybrid robot. The structural analysis of the robot, and design considerations are also presented.Key words: Parallel Hybrid Robot, Design, Structural Analysis, Surgical Robotic System, Active Robotized Instrument, Minimally Invasive Surgery (MIS).
Plitea, N., et. al. “Innovative Development of Surgical Parallel Robots” Acta Electronica, Mediamira Science, pp 201-206, Cluj-Napoca, 2007
Pisla, D., et. al., “PARAMIS Parallel Robot for Laparoscopic Surgery”, Chirurgia Journal, No. 105 (5), pp. 677-683, Bucuresti, 2010
Simaan, N., and Shoham, M., “Robot Construction for Surgical Applications, Second Israeli symposium on Computer-aided Surgery, Medical Robotics and Medical Immaging, 1999
Suciu, M., Gherman, B., Vaida, C., Plitea, N., Pisla, D., “On the Kinematics of a Hybrid Parallel Robot used in Minimally Invasive Surgery”, Springer, MeTrApp Timisoara, 2011- pending publishing
Gherman, B., “Contributions to the Deve- lopment of Kinematic, Dynamic and Functional Models for a Innovative Parallel Hybrid Structure for MIS”, Phd Thesis, Cluj-Napoca, 2011
Pisla, D., et. al. “Kinematics and Design of a 5-DOF Parallel Robot used in Minimally Invasive Surgery”, pp 99-106, Slovenia, 28 June-01 July 2010, ARK 2010, Piran
Pisla, D., et. al. “Parasurg Hybrid Parallel Robot for MIS”, Chirurgia Journal., No. 106 (3), Bucuresti, 2011- in press
Plitea, N., et. al. Surgical Robot, Patent pending no. a00525/7.07.2009, Romania, 2009
Pisla, D., “Modelearea Cinematica si Dina- mica a Robotilor Paraleli”, Ed. Dacia, ISBN 973-35-1941-3, Cluj-Napoca, 2005
Siemens UGS NX, http://www.plm.autom ation.siemens.com/en_us/products/nx/nx7/index.shtml, 2011
Maxon AG. , http://www.maxonmotor .com/, 2011
- There are currently no refbacks.