Kinematics analysis of a parallel surgical robot

Abstract

The geometric and kinematic analysis of a surgical parallel robot, used for camera and active instruments positioning is presented in this paper. Its workspace is also illustrated. The robot structure consists of two modules: The PARAMIS robot and the new parallel positioning module. The use of this new parallel structure in surgery presents the following advantages: It releases some of the pressure on the abdominal wall in certain positions of the robot and the new robot may be used either as laparoscope holder or as manipulator of active instruments, used for cutting, suturing, grasping etc. The new robot provides the necessary control of motion to fulfil the imposed tasks in the case of surgical applications. Numerical results and conclusions from the performed simulations are described.