2018
DOI: 10.1002/rcs.1901
|View full text |Cite
|
Sign up to set email alerts
|

Development of a new 3‐DOF parallel manipulator for minimally invasive surgery

Abstract: This article proposes a novel dexterous endoscopic parallel manipulator for minimally invasive surgery. The proposed manipulator has 3 degrees of freedom (3-DOF), which consist of two rotational DOFs and one translational DOF (2R1T DOFs). The manipulator consists of 3 limbs exhibiting identical kinematic structure. Each limb contains an active prismatic joint followed by 2 consecutive passive universal joints. The proposed manipulator has a unique arrangement of its joints' axes. This unique arrangement permit… Show more

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
3
1
1

Citation Types

0
10
0

Year Published

2019
2019
2024
2024

Publication Types

Select...
5

Relationship

0
5

Authors

Journals

citations
Cited by 11 publications
(10 citation statements)
references
References 19 publications
0
10
0
Order By: Relevance
“…However, wire-driven laparoscopic manipulators have many downsides. The wires might rupture during the operation, or be slacked, requiring pre-tensioning mechanism [168]. In addition, the sterilization process may also be troublesome.…”
Section: Serial Manipulatorsmentioning
confidence: 99%
See 4 more Smart Citations
“…However, wire-driven laparoscopic manipulators have many downsides. The wires might rupture during the operation, or be slacked, requiring pre-tensioning mechanism [168]. In addition, the sterilization process may also be troublesome.…”
Section: Serial Manipulatorsmentioning
confidence: 99%
“…Table VII shows kinematic structures of developed parallel manipulators along with their limitations. Novel laparoscopic parallel manipulator with 3-PUU architecture that also owns 2R1T DOFs is presented by Khalifa et al [168]. It can achieve a bending angle of more than ± 90 • in any direction.…”
Section: Parallel Manipulatorsmentioning
confidence: 99%
See 3 more Smart Citations