On kinematics of a parallel robot used for the minimally invasive surgery

One of the pioneer fields for robots is their assimilation in surgery, especially in minimally invasive procedures. The paper presents the kinematics of an innovative parallel structure for the manipulation of surgical instruments in minimally invasive surgery. The parallel architecture has been chosen for its superiority in precision, repeatability, stiffness, higher speeds and occupied volume. The equations, which model the kinematics are pointed out for this robot based on its mathematically determined functional parameters. The results of the kinematical modeling are systematically presented and lead to the facile solving of the parallel structure. Some simulation results have been presented. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)