Design of spherical parallel mechanisms for application to laparoscopic surgery

Abstract

This paper addresses an optimal study of workspace for spherical parallel mechanism for laparoscopic surgery. The spherical parallel manipulator has been selected because of its characteristics. Two designs have been studied for maximizing their workspaces; a haptic device, as part of training system, and a laparoscope holding mechanism. The laparoscope holding mechanism has to satisfy additional constraints by minimizing the occupied space above the patient. The objective is to solve design problem to offer the maximal workspace for such mechanisms. The design of a haptic interface and the laparoscope holding mechanism based on the optimal parameters are presented. This paper presents a Genetic Algorithm (GA) approach for selecting optimal design parameters for maximizing workspace of spherical parallel mechanism.

Analysis and Experimental Study of a 4-DOF Haptic Device

“…In this section, we present the development and experimental results of the Spherical Parallel Ball Support type mechanism (Li & Payandeh, 2002). The distinctive feature of SPBS is that it uses a 4-DOF hybrid spherical geometry (see Fig.…”

Analytical kinematics models and special geometries of a class of 4-DOF parallel mechanisms

“…The third equation describes the angle , between and (18) By developing (18), simplifying and substituting in (16) and (17), we obtain the following second-degree equations in and :…”

Minimally-invasive-surgery parallel robot with non-identical limbs

“…Open kinematic chains with spherical mechanism have been suggested for application in minimally invasive surgery [6], [7], [8] and especially a spherical arm and its optimization were presented in [6]; another spherical mechanism designed for endoscopic procedures was developed and patented [7]. Parallel manipulators with spherical linkages have also been proposed especially for application in laparoscopic surgery [9], [10]. A parallel manipulator, which 3UPRU-1S structure restricts the motion of the moving platform to spherical one, has been proposed for application in laparoscopic surgery [11].…”