Motion control analysis of a parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS)

An actuated force feedback-enabled laparoscopic instrument for robotic-assisted surgery

“…The force‐measurement capability and actuation features of the proposed instrument give it the potential capability for direct use in robotic‐assisted surgery operations manually supervised by the surgeon, who controls the forces exerted to the tissue, or in automatic surgical procedures, performed under software supervision using force/vision feedback, where the allowable interaction forces have been once taught by a surgeon. Incorporating the proposed instrument with a Phantom® haptic device in a master–slave parallel robot‐assisted minimally invasive surgery/microsurgery system (PRAMiSS) would be the next stage of this ongoing research. The sterilization of the instrument, and especially the force‐sensing sleeve, needs to be extensively investigated and also some changes in the materials need to be applied before it can be considered for use in clinical trials.…”

Forward kinematics analysis of offset 6-RRCRR parallel manipulators

“…Over the past few years, the parallel manipulators have received a great deal of attention from researchers due to the variety of possible practical applications [1]. Parallel architectures have been investigated and utilized in flexure-based mechanisms for frontier applications such as scanning electron microscopy, atomic force microscopy, cell surgery, nano surgery, and micro/nano surface methodology [2][3][4][5]. Parallel manipulators can also be developed for large workspace providing macro/micro manipulation capabilities [6,7].…”

“…The numerical results demonstrate that solutions, that are supposed to be poses p 1 , p 2 , and p 3 in Table1, could be obtained within four iteration steps. It should be noted that the initial guesses for equation(2) for all these three examples are the home position of the mobile platform. So, obviously considering these guesses as previous pose of the platform on the trajectory a short time interval in the past decreases the number of iteration steps and shorten the calculation time.…”