Details
| Original language | English |
|---|---|
| Pages (from-to) | 215-225 |
| Number of pages | 11 |
| Journal | Journal of Vibroengineering |
| Volume | 11 |
| Issue number | 2 |
| Publication status | Published - 1 Jun 2009 |
| Externally published | Yes |
Abstract
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.
Keywords
- Design, Dynamics, Kinematics, Minimally invasive surgery, Parallel robots, Simulation
ASJC Scopus subject areas
- Materials Science(all)
- Engineering(all)
- Mechanical Engineering
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In: Journal of Vibroengineering, Vol. 11, No. 2, 01.06.2009, p. 215-225.
Research output: Contribution to journal › Article › Research › peer review
}
TY - JOUR
T1 - Dynamic analysis and design of a surgical parallel robot used in laparoscopy
AU - Plitea, N.
AU - Hesselbach, Jürgen
AU - Pîslǎ, D.
AU - Raatz, Annika
AU - Gherman, B.
AU - Vaida, C.
PY - 2009/6/1
Y1 - 2009/6/1
N2 - 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.
AB - 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.
KW - Design
KW - Dynamics
KW - Kinematics
KW - Minimally invasive surgery
KW - Parallel robots
KW - Simulation
UR - http://www.scopus.com/inward/record.url?scp=67650948317&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:67650948317
VL - 11
SP - 215
EP - 225
JO - Journal of Vibroengineering
JF - Journal of Vibroengineering
SN - 1392-8716
IS - 2
ER -