On the Dynamics of a 5 DOF Parallel Hybrid Robot Used in Minimally Invasive Surgery

机译：用于微创手术的5自由度并联混合机器人的动力学研究

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Considering the latest results in robotic assisted surgery it is obvious that robots became useful tools in minimally invasive surgery (MIS), providing benefits such as reduction in hand tremor, the possibility of reaching positions and places that could prove difficulty in reaching using classical instruments, navigation and workspace scaling. In this paper the inverse dynamic model for a parallel robot conceived for MIS using virtual work principle is presented. The results of the analytic dynamic model have been validated by means of a Multi-Body simulation.

机译：考虑到机器人辅助手术的最新成果，很明显，机器人已成为微创手术（MIS）的有用工具，具有诸如减少手部震颤，达到可能证明使用传统器械难以到达的位置和位置等优点，导航和工作空间缩放。本文提出了一种基于虚拟工作原理的MIS系统并行机器人逆动力学模型。解析动力学模型的结果已通过多体仿真进行了验证。

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来源
《New trends in mechanism science : Analysis and design》|2010年|p.691-699|共9页
会议地点 Cluj-Napoca(RO);Cluj-Napoca(RO)
作者
D. Pisla; B.G. Gherman; M. Suciu; C. Vaida; D. Lese; C. Sabou; N. Plitea;
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作者单位

Department of Mechanics, Technical University of Cluj-Napoca,400114 Cluj-Napoca, Romania;

Department of Mechanics, Technical University of Cluj-Napoca,400114 Cluj-Napoca, Romania;

Department of Mechanics, Technical University of Cluj-Napoca,400114 Cluj-Napoca, Romania;

Department of Mechanics, Technical University of Cluj-Napoca,400114 Cluj-Napoca, Romania;

Department of Mechanics, Technical University of Cluj-Napoca,400114 Cluj-Napoca, Romania;

Department of Mechanics, Technical University of Cluj-Napoca,400114 Cluj-Napoca, Romania;

Department of Mechanics, Technical University of Cluj-Napoca,400114 Cluj-Napoca, Romania;

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原文格式 PDF
正文语种 eng
中图分类机械设计、计算与制图;
关键词
parallel hybrid robot; minimally invasive surgery; kinematics; dynamics; simulation;

机译：并联混合机器人微创手术；运动学动力学;模拟;

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1. An active hybrid parallel robot for minimally invasive surgery [J] . Doina Pisla, Bogdan Gherman, Calin Vaida, Robotics and Computer-Integrated Manufacturing . 2013,第4期

机译：用于微创手术的有源混合并联机器人
2. Collaborative framework for robot-assisted minimally invasive surgery using a 7-DoF anthropomorphic robot [J] . Sandoval J., Su H., Vieyres P., Robotics and Autonomous Systems . 2018,第期

机译：使用7-DOF拟人机器人的机器人辅助微创手术的协作框架
3. Development of a 6-DoF FBG force-moment sensor for a haptic interface with minimally invasive robotic surgery [J] . Kim Cheol, Lee Chan-Hee Journal of Mechanical Science and Technology . 2016,第8期

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4. On the Kinematics of a Hybrid Parallel Robot Used in Minimally Invasive Surgery [C] . M. Suciu, B. Gherman, C. Vaida, Workshop on Mechanisms,Transmissions and Applications . 2012

机译：在微创手术中使用的混合并联机器人的运动学
5. Tactile Feedback in Minimally Invasive Robotic Surgery with the Use of Strain Gauges =Rétroaction tactile en chirurgie robotique minimalement invasive avec l'utilisation de jauges de détente [D] . Govalla, Dema Nua. 2021

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6. Application of full lateral decubitus position with cephalic parallel approach in robotic-assisted minimally invasive esophagectomy [O] . Yunke Zhu, Lin Ma, Lunxu Liu, 2019

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7. Double-Screw-Drive Mechanism Incorporated Multi-DOF Robotic Forceps Manipulator for Minimally Invasive Surgery(Mechanical Systems) [O] . Chiharu ISHII, Kosuke KOBAYASHI, Yosuke NISHITANI, 2010

机译：双螺杆驱动机构加入了多-DOF机器人钳机械手，用于微创手术（机械系统）

On the Dynamics of a 5 DOF Parallel Hybrid Robot Used in Minimally Invasive Surgery

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