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

doi:10.1007/s11465-013-0365-4

Front Mech Eng

0, Vol.

Issue () : 70-79 https://doi.org/10.1007/s11465-013-0365-4

RESEARCH ARTICLE

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

Alin STOICA, Doina PISLA(

), Szilaghyi ANDRAS, Bogdan GHERMAN, Bela-Zoltan GYURKA, Nicolae PLITEA

Technical University of Cluj-Napoca, RO-400114 Cluj-Napoca, Romania

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Abstract

In the last ten years, due to development in robotic assisted surgery, the minimally invasive surgery has greatly changed. Until now, the vast majority of robots used in surgery, have serial structures. Due to the orientation parallel module, the structure is able to reduce the pressure exerted on the entrance point in the patient’s abdominal wall. The parallel robot can also handle both a laparoscope as well an active instrument for different surgical procedures. The advantage of this parallel structure is that the geometric model has been obtained through an analytical approach. The kinematic modelling of a new parallel architecture, the inverse and direct geometric model and the inverse and direct kinematic models for velocities and accelerations are being determined. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. The robot workspace was generated using the inverse geometric model. An in-depth study of different types of singularity is performed, allowing the development of safe control algorithms of the experimental model. Some kinematic simulation results and the experimental model of the robot are presented in the paper.

Keywords parallel robot minimally invasive surgery kinematics simulation

Corresponding Author(s): PISLA Doina,Email:doina.pisla@mep.utcluj.ro

Issue Date: 05 March 2013

Cite this article:

Alin STOICA,Doina PISLA,Szilaghyi ANDRAS, et al. Kinematic, workspace and singularity analysis of a new parallel robot used in minimally invasive surgery[J]. Front Mech Eng, 0, (): 70-79.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-013-0365-4
https://academic.hep.com.cn/fme/EN/Y0/V/I/70

Fig.1 Kinematic scheme of the parallel robot

Fig.2 Parallel module

Fig.3 The angles and

Fig.4 Simulation results for the kinematic model of parallel structure

Fig.5 Singularity Type I corresponding to Case 2

Fig.6 Singularity Type II corresponding to Case 3

Fig.7 The reachable workspace of the parallel robot (isometric view)

Fig.8 Section view in the workspace, parallel with the plane at = 0

Fig.9 Experimental model of the parallel robot

Fig.10 Experimental model of the parallel module

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