DocumentCode
2591573
Title
Kinematics and workspace of a new surgical robot with five degrees of freedom
Author
Scurtu, I.L. ; Plitea, N. ; Crisan, N. ; Pisla, D.
Author_Institution
Dept. of Vehicles & Transp., Tech. Univ. of Cluj-Napoca, Cluj-Napoca, Romania
fYear
2012
fDate
24-27 May 2012
Firstpage
406
Lastpage
411
Abstract
The paper presents some aspects about the kinematics and workspace of a new parallel robot developed for minimally invasive surgery. Possible motion of the active joints and the laparoscope movement in surgery field are generated using Matlab software. The robot workspace is generated using the developed geometrical model. The benefits of this parallel structure are presented finally in the paper.
Keywords
medical robotics; robot kinematics; Matlab software; active joints; five degrees of freedom; geometrical model; invasive surgery; laparoscope movement; new surgical robot kinematics; new surgical robot workspace; parallel robot; surgery field; Kinematics; Laparoscopes; Minimally invasive surgery; Parallel robots; Robot kinematics; kinematics; parallel robot; robotic surgery; workspace;
fLanguage
English
Publisher
ieee
Conference_Titel
Automation Quality and Testing Robotics (AQTR), 2012 IEEE International Conference on
Conference_Location
Cluj-Napoca
Print_ISBN
978-1-4673-0701-7
Type
conf
DOI
10.1109/AQTR.2012.6237744
Filename
6237744
Link To Document