MODELING AND SIMULATION OF A NEW PARALLEL ROBOT USED IN MINIMALLY INVASIVE SURGERY

Doina Pisla, Calin Vaida, Nicolae Plitea, Jürgen Hesselbach, Annika Raatz, Marc Simnofske, Arne Burisch, Liviu Vlad

2008

Abstract

Surgery is one of the fields where robots have been introduced due to their positioning accuracy which exceed the human capabilities. Parallel robots offer higher stiffness and smaller mobile mass than serial ones, thus allowing faster and more precise manipulations that fit medical applications. In the paper is presented the modeling and simulation of a new parallel robot, based on an innovative structure, used in minimally invasive surgery. The parallel architecture has been chosen for its superiority in precision, repeatability, stiffness, higher speeds and occupied volume. The robot kinematics, singular position identification and workspace generation are illustrated. Using the developed virtual model of the parallel robot, some simulation tests are presented.

Paper Citation

in Harvard Style

Pisla D., Vaida C., Plitea N., Hesselbach J., Raatz A., Simnofske M., Burisch A. and Vlad L. (2008). MODELING AND SIMULATION OF A NEW PARALLEL ROBOT USED IN MINIMALLY INVASIVE SURGERY . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 194-201. DOI: 10.5220/0001500201940201

in Bibtex Style

@conference{icinco08,
author={Doina Pisla and Calin Vaida and Nicolae Plitea and Jürgen Hesselbach and Annika Raatz and Marc Simnofske and Arne Burisch and Liviu Vlad},
title={MODELING AND SIMULATION OF A NEW PARALLEL ROBOT USED IN MINIMALLY INVASIVE SURGERY},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={194-201},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001500201940201},
isbn={978-989-8111-31-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - MODELING AND SIMULATION OF A NEW PARALLEL ROBOT USED IN MINIMALLY INVASIVE SURGERY
SN - 978-989-8111-31-9
AU - Pisla D.
AU - Vaida C.
AU - Plitea N.
AU - Hesselbach J.
AU - Raatz A.
AU - Simnofske M.
AU - Burisch A.
AU - Vlad L.
PY - 2008
SP - 194
EP - 201
DO - 10.5220/0001500201940201