Kinematical Analysis and Design of a New Surgical Parallel Robot

Robots in surgery are used because of their superior advantages: improved accuracy, tremor elimination etc, which exceeds human capabilities. Unlike serial robots, parallel robots offer higher stiffness, reduced masses in motion, higher rigidity, all of these leading more precise manipulations that fit medical applications. In this paper, a new innovative parallel structure for laparoscopy is presented. It is studied the forward and inverse kinematics, the singularities, it is generated the workspace and are presented some simulation results.

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