Modelling, design and control of 3DOF medical parallel robot

Robot usage outside of the automobile, appliance, undersea, space, and hazardous materials industries has increased over the past decade. Robots have potential for enormous benefit to the medical field, but researchers must proceed with care to ensure human safety. With the rising cost of medicine, automation may be one way to make medicine affordable [1-3]. The trend is to work side-by-side with specialists of other fields so as to gain insight into the problems hitherto remaining untouched. One such environment has been the hospitals in general and the operation theatres in particular where it is seen that the abilities of a surgeon carrying out a difficult surgical operation gets enhanced by working side-by-side with such robots. Those robots, popularly known as medical robots are meant for tackling the three main areas of medicine surgery, hospital service and rehabilitation. The most popular and demanding application areas amongst those is surgery [4-6]. The high precision of the robot manipulator, minimally invasive access, enhanced prospects for tele-surgery are some of the reasons behind the justification of a robotic approach to surgery. Industrial robots are being used in the operating room, and two classes of robot systems can be defined in this area: robots that assist the surgeon in surgery, and robots that actually perform the surgery. The following discussion comprises a 3 DOF parallel robot that can be used for surgery. The structure of the 3 DOF ISOGLIDE3 parallel robot is shown in Fig. 1, where a mobile platform is coupled with the fixed base by three legs of type PRRR (Prismatic Revolute Revolute Revolute). The realized robot made at Mechatronics Dept. is presented in Fig. 2.