Abstract
The progresses in engineering and medicine have opened the way for the use of robots in the operating rooms. Robots are useful tools in minimally invasive surgery (MIS), providing benefits such as reduction in hand tremor, navigation, and workspace scaling. In this paper the inverse dynamic model for a parallel robot conceived for MIS using virtual work principle is presented. The dynamic model is obtained by means of the theory of equivalent lumped masses, in order to simplify the given mechanical system from the structural point of view. © Springer Science+Business Media B.V. 2009.
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CITATION STYLE
Plitea, N., Pisla, D., Vaida, C., Gherman, B., & Pisla, A. (2009). Dynamic modeling of a parallel robot used in minimally invasive surgery. In Proceedings of EUCOMES 2008 - The 2nd European Conference on Mechanism Science (pp. 595–602). https://doi.org/10.1007/978-1-4020-8915-2_71
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