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Comparative Analysis of Quasi-Differential Approaches in Inverse Kinematics Read chapter Read first chapter

2018 | OriginalPaper | Chapter

Dionis Surgical Positioner

Design for High Stiffness of a Parallel Structure

Authors : Jeremy Olivier, Jerry Bielmann, Mohamed Bouri, Hannes Bleuler

Published in: Advances in Service and Industrial Robotics

Publisher: Springer International Publishing

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Abstract

A few years ago, we presented a new parallel robot kinematics (called “Dionis”) suitable for positioning an endoscopic tool above a patient, with a virtual center of rotation at the insertion point. A first prototype has been realized. This enables us to address a few specific mechanical design issues with the purpose of significantly increasing the stiffness of this design. FEM simulations presented here show promising results.

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Literature
1.
Beira R, Santos-Carreras L, Rognini G, Bleuler H, Clavel R (2011) Dionis: a novel remote-center-of-motion parallel manipulator for minimally invasive surgery. Appl Bionics Biomech 8:191–208CrossRef
2.
Beira R, Santos-Carreras L, Sengul A, Samur E, Clavel R, Bleuler H (2011) An external positioning mechanism for robotic surgery. J Syst Des Dyn 5:1094–1105
3.
Chamberlain RS, Sakpal SV (2009) A comprehensive review of single-incision laparoscopic surgery (SILS) and natural orifice transluminal endoscopic surgery (NOTES) techniques for cholecystectomy. J Gastrointest Surg 13:1733–1740CrossRef
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Lanfranco AR, Castellanos AE, Desai JP, Meyers WC (2004) Robotic surgery: a current perspective. Ann Surg 239:14–21CrossRef
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Palep JH (2009) Robotic assisted minimally invasive surgery. J Minim Access Surg 5:1CrossRef
6.
Raman JD, Cadeddu JA, Rao P, Rane A (2008) Single-incision laparoscopic surgery: initial urological experience and comparison with natural-orifice transluminal endoscopic surgery. BJU Int 101:1493–1496CrossRef
Metadata
Title
Dionis Surgical Positioner
Authors
Jeremy Olivier
Jerry Bielmann
Mohamed Bouri
Hannes Bleuler
Copyright Year
2018
Book
Advances in Service and Industrial Robotics

Print ISBN: 978-3-319-61275-1

Electronic ISBN: 978-3-319-61276-8

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-61276-8_103