Kinematics and workspace modeling of a new hybrid robot used in minimally invasive surgery

• Published in: Robotics and computer-integrated manufacturing Vol. 29; no. 2; pp. 463 - 474
• Main Authors: Pisla, Doina, Szilaghyi, Andras, Vaida, Calin, Plitea, Nicolae
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 01.04.2013
• Subjects: Active control; Automation; Hybrid robot; Kinematics; Manufacturing engineering; Mathematical models; Minimally invasive surgery; Modules; Robotic module; Robots; Serials; Workspace modeling; Workspace modeling; Minimally invasive surgery; Hybrid robot; Robotic module; Kinematics
• ISSN: 0736-5845; 1879-2537
• DOI: 10.1016/j.rcim.2012.09.016

The geometric and kinematic models of a new surgical hybrid robot used for camera and active instruments positioning are presented in this paper. The robot workspace is computed and illustrated following the singularities analysis. The robot structure consists of two modules: the PARAMIS robot, and the new serial positioning module. The serial positioning module is used to obtain a mechanically fixed remote center of motion (RCM), enabling the structure to manipulate also active instruments. The new robot provides the necessary motion control to respect the particularities and restrictions of surgical applications. The detailed workspace analysis demonstrates the importance of the relative positioning between the robot and the patient. A constructive solution of the new serial module, the numerical results and conclusions from the performed simulations are described. ► A new module and its integration in an existing robotic system are presented. ► The geometric and kinematics models of the new hybrid robot are illustrated. ► The robot workspace is computed and illustrated following the singularities analysis. ► Simulation and numerical results of the inverse kinematics model are obtained. ► These results are validated using the MATLAB/Simulink toolbox as simulator software.