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1/2017 vol. 22
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ORIGINAL PAPER
Analysis of Parallelogram Mechanism used to Preserve Remote Center of Motion for Surgical Telemanipulator
R. Trochimczuk 1
 
 
 
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Department of Automatic Control and Robotics, Faculty of Mechanical Engineering, Bialystok University of Technology, Poland
 
 
Online publication date: 2017-03-04
 
 
Publication date: 2017-02-01
 
 
International Journal of Applied Mechanics and Engineering 2017;22(1):229-240
DOI: https://doi.org/10.1515/ijame-2017-0013
 
 
Article (PDF)
References (8)
 
KEYWORDS
parallelogram mechanism
surgical telemanipulator
robot minimally invasive surgery
stiffness FEM analysis
RCM mechanism
 
ABSTRACT
This paper presents an analysis of a parallelogram mechanism commonly used to provide a kinematic remote center of motion in surgical telemanipulators. Selected types of parallel manipulator designs, encountered in commercial and laboratory-made designs described in the medical robotics literature, will serve as the research material. Among other things, computer simulations in the ANSYS 13.0 CAD/CAE software environment, employing the finite element method, will be used. The kinematics of the solution of manipulator with the parallelogram mechanism will be determined in order to provide a more complete description. These results will form the basis for the decision regarding the possibility of applying a parallelogram mechanism in an original prototype of a telemanipulator arm.
 
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