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
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;
Conference_Titel :
Automation Quality and Testing Robotics (AQTR), 2012 IEEE International Conference on
Conference_Location :
Cluj-Napoca
Print_ISBN :
978-1-4673-0701-7
DOI :
10.1109/AQTR.2012.6237744
