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.


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    Title :

    Geometric Modeling of a New Modular Spherical Robotic System for Single Incision Laparoscopic Surgery


    Additional title:

    Mechan. Machine Science



    Conference:

    International Conference on Robotics in Alpe-Adria Danube Region ; 2022 ; Klagenfurt, Austria June 08, 2022 - June 10, 2022



    Publication date :

    2022-04-23


    Size :

    8 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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