The paper presents the geometric modeling of an innovative modular robotic system designed for SILS. The proposed robotic system uses a Cartesian positioning robot which aligns simultaneously all the surgical instruments with the access port. Each surgical instrument is positioned, kinematically constrained with respect to de access point by a spherical robot module. The geometric model is described by fully parametric equations defining the relations between the robotic modules, the patient, and the surgical instruments.
Geometric Modeling of a New Modular Spherical Robotic System for Single Incision Laparoscopic Surgery
Mechan. Machine Science
International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022
2022-04-23
8 pages
Article/Chapter (Book)
Electronic Resource
English
Enhanced Vision System to improve safety in Robotic Single Incision Laparoscopic Surgery
BASE | 2014
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