Development of a 6-DOF Parallel Robot for Potential Single-Incision Laparoscopic Surgery Application
This paper presents the development of a 6-DOF (Degrees of Freedom) parallel robot for single-incision laparoscopic surgery (SILS). The concept of the robotic system is developed with respect to a medical protocol designed by the medical experts in the team targeting a SILS procedure in urology. The...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-10-01
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| Series: | Machines |
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| Online Access: | https://www.mdpi.com/2075-1702/11/10/978 |
| _version_ | 1797573139518980096 |
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| author | Doina Pisla Nadim Al Hajjar Bogdan Gherman Corina Radu Tiberiu Antal Paul Tucan Ruxanda Literat Calin Vaida |
| author_facet | Doina Pisla Nadim Al Hajjar Bogdan Gherman Corina Radu Tiberiu Antal Paul Tucan Ruxanda Literat Calin Vaida |
| author_sort | Doina Pisla |
| collection | DOAJ |
| description | This paper presents the development of a 6-DOF (Degrees of Freedom) parallel robot for single-incision laparoscopic surgery (SILS). The concept of the robotic system is developed with respect to a medical protocol designed by the medical experts in the team targeting a SILS procedure in urology. The kinematic model of the robotic system was defined to determine the singularities that may occur during functioning. FEM analyses were performed to determine the components of the robotic structure that may compromise the rigidity of the robotic system, and these components were redesigned and integrated into the final design of the robot. To verify the kinematic model a series of numerical and graphical simulations were performed, while to test the functionality of the robotic system, a low-cost experimental model was developed. The accuracy of the experimental model was measured using an optical motion tracking system. |
| first_indexed | 2024-03-10T21:05:29Z |
| format | Article |
| id | doaj.art-20dbadba73fb487c90fe22ca9b589f49 |
| institution | Directory Open Access Journal |
| issn | 2075-1702 |
| language | English |
| last_indexed | 2024-03-10T21:05:29Z |
| publishDate | 2023-10-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Machines |
| spelling | doaj.art-20dbadba73fb487c90fe22ca9b589f492023-11-19T17:08:56ZengMDPI AGMachines2075-17022023-10-01111097810.3390/machines11100978Development of a 6-DOF Parallel Robot for Potential Single-Incision Laparoscopic Surgery ApplicationDoina Pisla0Nadim Al Hajjar1Bogdan Gherman2Corina Radu3Tiberiu Antal4Paul Tucan5Ruxanda Literat6Calin Vaida7CESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, RomaniaDepartment of Surgery, ”Iuliu Hatieganu” University of Medicine and Pharmacy, 400347 Cluj-Napoca, RomaniaCESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, RomaniaDepartment of Internal Medicine, “Iuliu Hatieganu” University of Medicine and Pharmacy, 400347 Cluj-Napoca, RomaniaCESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, RomaniaCESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, RomaniaCESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, RomaniaCESTER, Technical University of Cluj-Napoca, 400114 Cluj-Napoca, RomaniaThis paper presents the development of a 6-DOF (Degrees of Freedom) parallel robot for single-incision laparoscopic surgery (SILS). The concept of the robotic system is developed with respect to a medical protocol designed by the medical experts in the team targeting a SILS procedure in urology. The kinematic model of the robotic system was defined to determine the singularities that may occur during functioning. FEM analyses were performed to determine the components of the robotic structure that may compromise the rigidity of the robotic system, and these components were redesigned and integrated into the final design of the robot. To verify the kinematic model a series of numerical and graphical simulations were performed, while to test the functionality of the robotic system, a low-cost experimental model was developed. The accuracy of the experimental model was measured using an optical motion tracking system.https://www.mdpi.com/2075-1702/11/10/978parallel robotsurgical robotsingularityfunctional designFEM |
| spellingShingle | Doina Pisla Nadim Al Hajjar Bogdan Gherman Corina Radu Tiberiu Antal Paul Tucan Ruxanda Literat Calin Vaida Development of a 6-DOF Parallel Robot for Potential Single-Incision Laparoscopic Surgery Application Machines parallel robot surgical robot singularity functional design FEM |
| title | Development of a 6-DOF Parallel Robot for Potential Single-Incision Laparoscopic Surgery Application |
| title_full | Development of a 6-DOF Parallel Robot for Potential Single-Incision Laparoscopic Surgery Application |
| title_fullStr | Development of a 6-DOF Parallel Robot for Potential Single-Incision Laparoscopic Surgery Application |
| title_full_unstemmed | Development of a 6-DOF Parallel Robot for Potential Single-Incision Laparoscopic Surgery Application |
| title_short | Development of a 6-DOF Parallel Robot for Potential Single-Incision Laparoscopic Surgery Application |
| title_sort | development of a 6 dof parallel robot for potential single incision laparoscopic surgery application |
| topic | parallel robot surgical robot singularity functional design FEM |
| url | https://www.mdpi.com/2075-1702/11/10/978 |
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