A new single-port robotic system based on a parallel kinematic structure
A new single-port robotic system based on a parallel kinematic structure
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基于并联运动结构的新型单端口机器人系统
DOI：
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发表时间：
2015
期刊：
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通讯作者：
P. Pott
中科院分区：
文献类型：
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作者：
S. Matich;C. Neupert;A. Kirschniak;H. Schlaak;P. Pott
在本文中，我们提出了一种新的单端口机器人系统，专门设计用于结肠癌领域的单孔手术。与大多数最先进的系统相比，两个颅内操纵器臂使用具有5DOF的平行运动结构设置，其集成到直径为38 mm的轴中。详细讨论了该并联机构的运动学结构及其工作空间。作为一个独特的功能，运动学使用每个操作臂的三个杆的平移和旋转。使用平行运动学方法可以实现动态，刚性和精确的运动，这是产生逼真的触觉反馈所需的。几个执行循环测试的结果显示，执行精确和动态运动的能力，速度高达327 mm/s和负载条件下的4 N。
In this paper we present a new single port robotic system particularly designed for single port access surgery in the field of colon cancer. In contrast to most state of the art systems the two intracorporeal manipulator arms are set up using a parallel kinematic structure with 5DOF, which are integrated into a shaft of 38mm in diameter. The parallel kinematic structure and its workspace are discussed in detail. As a unique feature, the kinematics uses the translation and rotation of three rods per manipulation arm. Using a parallel kinematic approach enables dynamic, stiff and precise movements which are needed to generate a realistic haptic feedback. The results of several performed circle tests are presented showing the ability of performing precise and dynamic movements with speeds of up to 327 mm/s and under load condition of 4 N.