On the dynamics of a 5 DOF parallel hybrid robot used in minimally invasive surgery

Abstract

Considering the latest results in robotic assisted surgery it is obvious that robots became useful tools in minimally invasive surgery (MIS), providing benefits such as reduction in hand tremor, the possibility of reaching positions and places that could prove difficulty in reaching using classical instruments, 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 results of the analytic dynamic model have been validated by means of a Multi-Body simulation. © Springer Science+Business Media B.V. 2010.