Finite element method stiffness analysis of a novel telemanipulator for minimally invasive surgery

Roman Trochimczuk , Andrzej Łukaszewicz , Tadeusz Mikołajczyk , Francesco Aggogeri , Alberto Borboni


This paper presents the concept of a novel telemanipulator for minimally invasive surgery, along with numerical analysis to validate the main system performance. The proposed kinematic structure consists of a passive and an active module. The passive module is similar to the Selective Compliance Assembly Robot Arm - SCARA robot. The active module is based on a parallelogram mechanism. The results of the numerical study are discussed, focusing on the influence of geometry parameters of the kinematic chain on the displacement accuracy of the end-effector. In particular, the paper deals with the identification of the main factors that impact the position accuracy of the robot.
Author Roman Trochimczuk (FME / DACR)
Roman Trochimczuk,,
- Department of Automatic Control and Robotics
, Andrzej Łukaszewicz (FME / DMDTE)
Andrzej Łukaszewicz,,
- Department of Machinery Design and Thermal Engineering
, Tadeusz Mikołajczyk
Tadeusz Mikołajczyk,,
, Francesco Aggogeri
Francesco Aggogeri,,
, Alberto Borboni
Alberto Borboni,,
Journal seriesSimulation -Transactions of the Society for Modelling and Simulation International, [Simulation], ISSN 0037-5497, e-ISSN 1741-3133, (N/A 70 pkt)
Issue year2019
Publication size in sheets0.5
Keywords in Englishtelemanipulator, surgery, minimally invasive surgery, finite element analysis, positioning
ASJC Classification1704 Computer Graphics and Computer-Aided Design; 1712 Software; 2611 Modelling and Simulation
Internal identifierROC 19-20
Languageen angielski
LicenseJournal (articles only); published final; Other open licence; with publication
Score (nominal)70
Score sourcejournalList
ScoreMinisterial score = 70.0, 12-02-2020, ArticleFromJournal
Publication indicators Scopus SNIP (Source Normalised Impact per Paper): 2016 = 0.874; WoS Impact Factor: 2018 = 1.455 (2) - 2018=1.211 (5)
Citation count*8 (2020-03-27)
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* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.
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