Analysis of Parallelogram Mechanism used to Preserve Remote Center of Motion for Surgical Telemanipulator
This paper presents an analysis of a parallelogram mechanism commonly used to provide a kinematic remote center of motion in surgical telemanipulators. Selected types of parallel manipulator designs, encountered in commercial and laboratory-made designs described in the medical robotics literature,...
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Format: | Article |
Language: | English |
Published: |
Sciendo
2017-02-01
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Series: | International Journal of Applied Mechanics and Engineering |
Subjects: | |
Online Access: | https://doi.org/10.1515/ijame-2017-0013 |
Summary: | This paper presents an analysis of a parallelogram mechanism commonly used to provide a kinematic remote center of motion in surgical telemanipulators. Selected types of parallel manipulator designs, encountered in commercial and laboratory-made designs described in the medical robotics literature, will serve as the research material. Among other things, computer simulations in the ANSYS 13.0 CAD/CAE software environment, employing the finite element method, will be used. The kinematics of the solution of manipulator with the parallelogram mechanism will be determined in order to provide a more complete description. These results will form the basis for the decision regarding the possibility of applying a parallelogram mechanism in an original prototype of a telemanipulator arm. |
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ISSN: | 1734-4492 2353-9003 |