4-DOF Parallel Architecture for Laparoscopic Surgery

被引：4

作者：

Khan, Mohammad Aamir ^{[1
]}

Zoppi, Matteo ^{[1
]}

Molfino, Rezia ^{[1
]}

机构：

[1] Univ Genoa, DIMEC, I-16145 Genoa, Italy

来源：

ADVANCES IN ROBOT KINEMATICS: ANALYSIS AND DESIGN | 2008年

关键词：

parallel mechanisms; robotic surgery; minimally invasive surgery;

D O I：

10.1007/978-1-4020-8600-7_13

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper analyzes a new laparoscopic surgical setup with two surgical robots. Requirements and constraints are outlined and the architecture selected for the surgical robots is presented and discussed. Analytical models of the inverse and forward kinematics are provided together with a detailed analysis of mobility and constraints. The velocity kinematics is addressed and singularity analysis outlined.

引用

收藏

页码：119 / 126

页数：8

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