Singularity analysis of robotic manipulators with velocity-constraints for minimally invasive surgery

2015 ◽  
Author(s):  
Cong Dung Pham ◽  
Pal Johan From
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Manipulators ◽  
Singularity Analysis ◽  
Velocity Constraints

Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery

2013 ◽  
Vol 8 (1) ◽  
pp. 70-79
Author(s):  
Alin Stoica ◽  
Doina Pisla ◽  
Szilaghyi Andras ◽  
Bogdan Gherman ◽  
Bela-Zoltan Gyurka ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Parallel Robot ◽  
Singularity Analysis

Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator

2010 ◽  
Author(s):  
Carl A. Nelson ◽  
Xiaoli Zhang
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Manipulators ◽  
Bevel Gear ◽  
Surgical Tool ◽  
Fixed Base ◽  
Manipulator Design ◽  
Spherical Mechanism

In the design of robotic manipulators for minimally invasive surgery (MIS), the spherical mechanism is a very important kinematic entity, since it can be used to mimic the constraint that the incision point provides to the surgical tool. In previous research by the authors, a bevel-gear-based spherical manipulator was designed whose actuators could be located on a fixed base link. In this paper, concepts of mechanism equivalency are applied to improving the manipulator design. The guidelines arrived at in this work can inform design of future spherical manipulators, especially those created with surgical tool manipulation in mind.

scholarly journals Dionis: A Novel Remote-Center-of-Motion Parallel Manipulator for Minimally Invasive Surgery

2011 ◽  
Vol 8 (2) ◽  
pp. 191-208 ◽  
Author(s):  
R. Beira ◽  
L. Santos-Carreras ◽  
G. Rognini ◽  
H. Bleuler ◽  
R. Clavel
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Singularity Analysis ◽  
Direct Access ◽  
Operating Table ◽  
Parallel Kinematics ◽  
Surgical Robots ◽  
Hybrid Mechanism ◽  
Effective Performance

The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism, namedDionis, is proposed in this paper. This spatial hybrid mechanism based on a novel parallel kinematics is able to provide three rotations and one translation for single port procedures. The corresponding axes intersect at a remote center of rotation (RCM) that is the MIS entry port. Another important feature of the proposed positioning manipulator is that it can be placed below the operating table plane, allowing a quick and direct access to the patient, without removing the robotic system. This, besides saving precious space in the operating room, may improve safety over existing solutions. The conceptual design of Dionis is presented in this paper. Solutions for the inverse and direct kinematics are developed, as well as the analytical workspace and singularity analysis. Due to its unique design and kinematics, the proposed mechanism is highly compact, stiff and its dexterity fullfils the workspace specifications for MIS procedures.

V1695: Minimizing Minimally Invasive Surgery: the Three Port Robotic Pyeloplasty

2004 ◽  
Vol 171 (4S) ◽  
pp. 448-448
Author(s):  
Farjaad M. Siddiq ◽  
Patrick Villicana ◽  
Raymond J. Leveillee
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Pyeloplasty
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