Finite element method stiffness analysis of a novel telemanipulator for minimally invasive surgery
Roman Trochimczuk , Andrzej Łukaszewicz , Tadeusz Mikołajczyk , Francesco Aggogeri , Alberto Borboni
AbstractThis 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.
|Journal series||Simulation -Transactions of the Society for Modelling and Simulation International, [Simulation], ISSN 0037-5497, e-ISSN 1741-3133, (N/A 70 pkt)|
|Publication size in sheets||0.5|
|Keywords in English||telemanipulator, surgery, minimally invasive surgery, finite element analysis, positioning|
|ASJC Classification||; ;|
|Internal identifier||ROC 19-20|
|License||Journal (articles only); published final; ; with publication|
|Score||= 70.0, 12-02-2020, ArticleFromJournal|
|Publication indicators||: 2016 = 0.874; : 2018 = 1.455 (2) - 2018=1.211 (5)|
|Citation count*||8 (2020-03-27)|
* presented citation count is obtained through Internet information analysis and it is close to the number calculated by the Publish or Perish system.