The paper presents the geometric modeling of an innovative modular robotic system designed for SILS. The proposed robotic system uses a Cartesian positioning robot which aligns simultaneously all the surgical instruments with the access port. Each surgical instrument is positioned, kinematically constrained with respect to de access point by a spherical robot module. The geometric model is described by fully parametric equations defining the relations between the robotic modules, the patient, and the surgical instruments.


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    Titel :

    Geometric Modeling of a New Modular Spherical Robotic System for Single Incision Laparoscopic Surgery


    Weitere Titelangaben:

    Mechan. Machine Science


    Beteiligte:
    Müller, Andreas (Herausgeber:in) / Brandstötter, Mathias (Herausgeber:in) / Vaida, Calin (Autor:in) / Birlescu, Iosif (Autor:in) / Pusca, Alexandru (Autor:in) / Gherman, Bogdan (Autor:in) / Tucan, Paul (Autor:in) / Antal, Tiberiu Alexandru (Autor:in) / Pisla, Doina (Autor:in)

    Kongress:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Erscheinungsdatum :

    23.04.2022


    Format / Umfang :

    8 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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