Finite element method stiffness analysis of a novel telemanipulator for minimally invasive surgery

Finite element method stiffness analysis of a novel telemanipulator for minimally invasive surgery

This paper presents the concept of a novel telemanipulator for minimally invasive surgery, along with numerical analysis to validate the main system performance. The proposed kinematic structure consists of a passive and an active module. The passive module is similar to the Selective Compliance Ass...

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Bibliographic Details
Published in:Simulation (San Diego, Calif.) Vol. 95; no. 11; pp. 1015 - 1025
Main Authors: Trochimczuk, Roman, Łukaszewicz, Andrzej, Mikołajczyk, Tadeusz, Aggogeri, Francesco, Borboni, Alberto
Format: Journal Article
Language:English
Published: London, England SAGE Publications 01-11-2019
Subjects:
Telemanipulator
minimally invasive surgery
finite element analysis
positioning
surgery
Online Access:Get full text
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Description
Summary:This paper presents the concept of a novel telemanipulator for minimally invasive surgery, along with numerical analysis to validate the main system performance. The proposed kinematic structure consists of a passive and an active module. The passive module is similar to the Selective Compliance Assembly Robot Arm - SCARA robot. The active module is based on a parallelogram mechanism. The results of the numerical study are discussed, focusing on the influence of geometry parameters of the kinematic chain on the displacement accuracy of the end-effector. In particular, the paper deals with the identification of the main factors that impact the position accuracy of the robot.
ISSN:0037-5497
1741-3133
DOI:10.1177/0037549719835920