Conception of Arm of Medical Robot Dedicated to Application of Minimally Invasive Surgery

Roman Trochimczuk

doi:10.4028/www.scientific.net/SSP.198.3

Paper Titles

Conception of Arm of Medical Robot Dedicated to Application of Minimally Invasive Surgery
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Conception of Arm of Medical Robot Dedicated to Application of Minimally Invasive Surgery

Abstract:

In this article only a few aspects of designing the surgical manipulator's arm will be chosen with the consideration of the kinematic structure of mechanical actuators system together with the description of requirements and the assumption for the execution system. The conception of surgical robots arm will be presented with parallelogram mechanism which increases the rigidity of the construction along with defining of kinematics matrix which describes a forward kinematics task. The aspect of limitation of the Denavit-Hartenberg method encountered by the author during the kinematics analysis of mechanism will be discussed and the solution of this systems issue will be given in this paper.

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Periodical:

Solid State Phenomena (Volume 198)

Pages:

3-8

DOI:

https://doi.org/10.4028/www.scientific.net/SSP.198.3

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Online since:

March 2013

Authors:

Roman Trochimczuk

Keywords:

Minimally Invasive Surgery (MIS), Notation D-H, Robot Design, Surgical Robot

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