2023
DOI: 10.3390/machines11100978
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Development of a 6-DOF Parallel Robot for Potential Single-Incision Laparoscopic Surgery Application

Doina Pisla,
Nadim Al Hajjar,
Bogdan Gherman
et al.

Abstract: This paper presents the development of a 6-DOF (Degrees of Freedom) parallel robot for single-incision laparoscopic surgery (SILS). The concept of the robotic system is developed with respect to a medical protocol designed by the medical experts in the team targeting a SILS procedure in urology. The kinematic model of the robotic system was defined to determine the singularities that may occur during functioning. FEM analyses were performed to determine the components of the robotic structure that may compromi… Show more

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Cited by 2 publications
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