Name
Title | ||
|---|---|---|
Finite element method stiffness analysis of a novel telemanipulator for minimally invasive surgery |
Abstract | ||
|---|---|---|
AbstractThis 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. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1177/0037549719835920 | Periodicals |
Keywords | Field | DocType |
Telemanipulator,surgery,minimally invasive surgery,finite element analysis,positioning | Kinematics,Stiffness,Computer science,Simulation,Finite element method,Numerical analysis,Surgery,Remote manipulator | Journal |
Volume | Issue | ISSN |
95 | 11 | 0037-5497 |
Citations | PageRank | References |
0 | 0.34 | 5 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Roman Trochimczuk | 1 | 0 | 0.34 |
| Andrzej Łukaszewicz | 2 | 0 | 0.34 |
| Tadeusz Mikołajczyk | 3 | 0 | 0.34 |
| Francesco Aggogeri | 4 | 1 | 4.80 |
| Alberto Borboni | 5 | 2 | 5.11 |