Design of a 4-DoF (degree of freedom) hybrid-haptic device for laparoscopic surgery
نویسندگان
چکیده
Abstract. This paper presents a novel kinematics architecture with 4 DoFs (degrees of freedom) intended to be used as haptic interface for laparoscopic surgery. The proposed is result an association serial and parallel chains, each one handling part the whole device DoF. chain allows handle translation self-rotation handles two tilt motions, this in disjoint way natural gesture surgeon. hybrid-haptic (HH device) benefits from split DoF ensure good kinematic performance, large workspace, well gravity compensation. study HH presented followed by optimal dimensional synthesis compensation model.
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ژورنال
عنوان ژورنال: Mechanical Sciences
سال: 2021
ISSN: ['2191-9151', '2191-916X']
DOI: https://doi.org/10.5194/ms-12-155-2021