Robot Construction for Surgical Applications
نویسندگان
چکیده
This paper presents a robot design for use in robotic-assisted surgery. The requirements of a medical robot point to the advantage of a parallel robot structure for this task. Based on laparoscopic surgery, specifications for workspace, velocity, force and accuracy of the robot were determined. Following a large number of kinematic and dynamic simulations, an RSPR parallel robot was designed and constructed. The extremely compact and lightweight robot meets the design specifications and exceeds the accuracy of the manually manipulated surgical tools.
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