Development and Investigation of Mechanisms with a Constant Point of Entry of a Tool into the Working Area, Intended for Surgery and Study of the Properties of Plasma


This paper discusses the mechanisms that ensure a constant point of entry of a tool into a working area. These devices were obtained using bevel gears or belt drives. The solution of the problem of the positions and velocities, as well as the problem of dynamic analysis, and the design of the operating model are presented.

This is a preview of subscription content, access via your institution.

Fig. 1.
Fig. 2.
Fig. 3.
Fig. 4.
Fig. 5.
Fig. 6.
Fig. 7.


  1. 1

    The Strategy of Scientific and Technological Development of the Russian Federation, approved by the Decree of the President of the Russian Federation of December 1, 2016 no. 642.

  2. 2

    Ganiev, R.F., Problems of machine mechanics and technology. Prospects of the development of the Blagonra-vov Institute of Engineering Science, J. Mach. Manuf. Reliab., 2010, vol. 39, no. 1, p. 1.

    Article  Google Scholar 

  3. 3

    Ganiev, R.F., Glazunov, V.A., and Filippov, G.S., Urgent problems of machine science and ways of solving them: Wave and additive technologies, the machine tool industry, and robot surgery, J. Mach. Manuf. Reliab., 2018, vol. 47, pp. 399–406.

    Article  Google Scholar 

  4. 4

    Filippov, G.S. and Glazunov, V.A., Prospects for the use of parallel structure mechanisms in additive technologies for manufacturing the central body of a nozzle of a turbojet engine, high-precision surgical procedures, and probe diagnostics of plasma flows, Probl. Mashinostr. Avtom., 2018, no. 3, p. 121.

  5. 5

    Krainev, A.F., Slovar’-spravochnik po mekhanizmam (The Dictionary-Guide to Mechanisms), Moscow: Mashinostroenie, 1987, 2nd ed.

  6. 6

    Ilewicz, G. and Wojnarowski, J., Kinematics of constant point mechanism of cardiosurgical telemanipulator, 13th World Congress in Mechanism and Machine Science, Guanajuato, 2011.

  7. 7

    Chernetsov, R., Veliev, E., Glazunov, V., Skvortsov, S., and Kovaleva, N., Determination of the number of degrees of freedom of mechanisms with a constant point of entry of the tool, Stankoinstrument, 2019, no. 4, p. 80.

  8. 8

    Veliev, E.I., Ganiev, R.F., Glazunov, V.A., Filippov, G.S., and Terekhova, A.N., Formulation and solution of the problem of the positions of a mechanism with a parallel–series structure used in surgery as an alternative to the Da Vinci robot, J. Mach. Manuf. Reliab., 2019, vol. 48, pp. 283–291.

    Article  Google Scholar 

  9. 9

    Veliev, E.I., Ganiev, R.F., Glazunov, V.A., and Filippov, G.S., Parallel and sequential structures of manipulators in robotic surgery, Dokl. Phys., 2019, vol. 64, pp. 106–109.

    Article  Google Scholar 

  10. 10

    Fomin, A., Glazunov, V., and Terekhova, A., Development of a novel rotary hexapod with a single drive, Robot Design, Dynamics and Control. Proceedings of ROMANSY XXII CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Springer, 2018, p. 141.

  11. 11

    Laryushkin, P., Glazunov, V., and Erastova, K., On the maximization of joint velocities and generalized reactions in the workspace and singularity analysis of parallel mechanisms, Robotica, 2019, vol. 37, p. 675.

    Article  Google Scholar 

  12. 12

    Minimally Invasive Surgery Market: Global Industry Analysis, Size, Share, Growth, Trends & Forecast, 2013–2019, Albany, NY: Transparency Market Res., 2014.

  13. 13

    Veliev, E.I., Golubtsova, E.N., and Tomilov, A.A., Possibilities of minimally invasive correction of urinary incontinence after radical treatment of prostate cancer, Onkourologiya, 2013, no. 4, p. 37.

  14. 14

    Sooriakumaran, P., Srivastova, A., and Shariat, S.F., A multinational, multiinstitutional study comparing positive surgical margin rates among 22393 open, laparoscopie, and robot-assisted radical prostatectomy patients, Eur. Urol., 2014, vol. 66, no. 3, p. 450.

    Article  Google Scholar 

  15. 15

    Krasnopol’skii, V.I., Popov, A.A., Manannikova, T.N., Fedorov, A.A., Slobodyanyuk, V.A., Koval’, A.A., and Mironenko, K.V., Robot-assisted surgery in gynecological oncology, Onkoginekologiya, 2014, no. 3, p. 23.

Download references

Author information



Corresponding authors

Correspondence to V. A. Glazunov or S. A. Skvortsov.

Ethics declarations

The authors declare no conflict of interest.

Additional information

Translated by K. Lazarev

About this article

Verify currency and authenticity via CrossMark

Cite this article

Veliev, E.I., Ganiev, R.F., Glazunov, V.A. et al. Development and Investigation of Mechanisms with a Constant Point of Entry of a Tool into the Working Area, Intended for Surgery and Study of the Properties of Plasma. J. Mach. Manuf. Reliab. 49, 463–473 (2020).

Download citation


  • bevel gear
  • belt drive
  • position problem
  • dynamic analysis
  • experimental model.