In this work is presented the evolution of the concept of a needle insertion surgery robot. Five different prototypes were proposed, keeping the core concept of decoupling kinematics, and passing from a passive device to an autonomous robot. The kinematics of the mechanisms are presented. The different configurations for the inverse kinematics are introduced. The workspace of the final prototype is analyzed.
CITATION STYLE
Puglisi, L. J., Pazmiño, R. S., Portolés, G. R., Cena, C. E. G., & Santonja, R. A. (2017). Experiences on the Design of a Needle Insertion Surgery Robot: Kinematic Analysis. In Lecture Notes in Networks and Systems (Vol. 13, pp. 36–47). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-319-54377-2_4
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