Design Analysis of parallel robot for Surgical applications

Laparoscopic surgery also referred to as minimally invasive surgery(MIS) describes the performance of surgical procedures with the assistance of a video camera and several thin instruments. During the surgical procedure, small incisions of up to half an inch are made and plastic tubes called ports are placed through these incisions. The camera and the instruments are then introduced through the ports which allow access to the inside of the patient The camera transmits an image of the organs inside the abdomen onto a television monitor. The surgeon is not able to see directly into the patient without the traditional large incision. The video camera becomes a surgeon’s eyes in laparoscopy surgery, since the surgeon uses the image from the video camera positioned inside the patient’s body to perform the procedure. In the common mode of operation in laparoscopic surgery, the surgeon holds in his right hand the laparoscope and in his left hand the surgical tool. In some cases, the surgeon works with a human assistant who holds the laparoscopic camera in a desired orientation. This arrangement is far from being satisfactory because of the fact that one of the surgeon’s hands is occupied in manipulating the laparoscope. In addition, the requirement for steadily holding the laparoscope camera for long time is physically demanding, thus, consuming unnecessary effort from the surgeon. Incorporating a robotic assistant for steadily holding the laparoscope camera reduces the workload of the surgeons, and in many procedures eliminates the necessity for a second one.The project aim to design a parallel robot/serial robot for steady holding of camera