INVERSE AND DIRECT GEOMETRICAL MODEL OF A NEW SURGICAL ROBOT WITH FIVE DEGREES OF FREEDOM

Liviu Iacob SCURTU, Doina PÎSLĂ, Călin VAIDA, Dorin LEŞE, Nicolae PLITEA

Abstract


In recent years, parallel robots have been used in many applications covering human-systems interaction, medical tasks and rehabilitation. This paper presents the innovative development of a surgical parallel robot designed for laparoscopic camera positioning in the surgical field. This research presents the structural synthesis of a parallel robot with linear and rotary active joints. The robot has five degrees of freedom and two guiding kinematics chains of the platform. The algorithm of the geometrical model of the parallel mechanism, designed for minimal invasive surgery is established. Some conclusions are drawn pointing out the advantages of the structure.

Key words: surgical robot, five freedom degrees

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References


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