Workspace and singularity analysis for a parallel robot used in surgical applications

Abstract

The paper presents the workspace and singularity analysis of a parallel robot, which can handle both a laparoscope or an active instrument in minimally invasive surgery (MIS). Using the inverse geometric model of the robot the analytical workspace is achieved. The paper will demonstrate that with this parallel structure, one can obtain the necessary workspace required for a minimally invasive operation. Finally, an in-depth study of different types of singularity is performed and some conclusions are presented. © Springer Science+Business Media Dordrecht 2013.