Abstract
Robotic assisted surgery is a continuously developing field, as robots have proved their utility in the operating rooms. Some of their advantages could be summed as follows: increased precision, the possibility of reaching positions and places that could prove difficulty in reaching using classical instruments, the replacement of medical personnel in the operating room, allowing for more space and cost saving etc. Until now, the vast majority of robots used in surgery, had serial structures. A new parallel hybrid architecture is proposed in this paper, the kinematics of this new structure is determined, the singularities are discussed and the design of the robot is presented.
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Pisla, D., Plitea, N., Gherman, B.G., Vaida, C., Pisla, A., Suciu, M. (2010). Kinematics and Design of a 5-DOF Parallel Robot Used in Minimally Invasive Surgery. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_11
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DOI: https://doi.org/10.1007/978-90-481-9262-5_11
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