Dynamic Analysis and Design of a Surgical Parallel Robot Used in Laparoscopy
| Categories |
Zeitschriften/Aufsätze (reviewed) |
| Year | 2009 |
| Authors | Plitea, N.; Hesselbach, J.; Pisla, D.; Raatz, A.; Gherman, B; Vaida, C. |
| Published in | Journal of Vibroengineering , Vibromechanika, Vilnius, Lithuania, 2009, 41681, pp. 215-225 |
Description
This paper presents the dynamic model and some characteristics of a 3 DOF parallel robot designed for minimally invasive surgery (MIS). The main benefits of using such robots in surgery are reduction in hand tremor, navigation and workspace scaling. The inverse dynamic model is obtained by using the Lagrange equations method and numerical results are obtained for the experimental model of the developed PARAMIS robot.
| ISSN | 1392-8716 |
