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2012 | OriginalPaper | Buchkapitel

On the Kinematics of a Hybrid Parallel Robot Used in Minimally Invasive Surgery

verfasst von : M. Suciu, B. Gherman, C. Vaida, N. Plitea, A. Stoica, D. Pisla

Erschienen in: Mechanisms, Transmissions and Applications

Verlag: Springer Netherlands

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Abstract

The paper presents some aspects about the kinematics of a hybrid parallel robot used in minimally invasive surgery: PARASURG 9 M. The robotic structure PARASURG 9 M consists of two modules: a hybrid parallel robotic arm with five DOF - PARASURG 5 M, and a parallel robotic surgical instrument PARASIM with four DOF. After a short introduction in the approached field, the hybrid parallel structure PARASURG 9 M is presented. Using the developed geometrical models, some numerical results of PARASURG 9 M are presented.

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Metadaten
Titel
On the Kinematics of a Hybrid Parallel Robot Used in Minimally Invasive Surgery
verfasst von
M. Suciu
B. Gherman
C. Vaida
N. Plitea
A. Stoica
D. Pisla
Copyright-Jahr
2012
Verlag
Springer Netherlands
DOI
https://doi.org/10.1007/978-94-007-2727-4_23

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