Workspace, dexterity and position planning of a 5DOF single-hole laparoscopic surgery robot
This paper aims to optimize the dexterity and best preoperative position of single-hole laparoscopic surgery (SHLS) robot in laparoscopic surgery. A 5DOF SHLS robot was designed with a series-parallel hybrid structure, and the inverse kinematics equation and Jacobian matrix of the SHLS robot were de...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
The Japan Society of Mechanical Engineers
2019-08-01
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| Series: | Journal of Biomechanical Science and Engineering |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/jbse/14/2/14_18-00544/_pdf/-char/en |