Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery

Serial spherical linkages have been used in the design of a number of robots for minimally invasive surgery, in order to mechanically constrain the surgical instrument with respect to the incision. However, the typical serial spherical mechanism suffers from conflicting design objectives, resulting...

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Veröffentlicht in:	Robotica 2019-07, Vol.37 (7), p.1202-1213
Hauptverfasser:	Nelson, C. A., Laribi, M. A., Zeghloul, S.
Format:	Artikel
Sprache:	eng
Schlagworte:	Automatic Collision avoidance Design optimization Design parameters Engineering Sciences Laparoscopy Linkages Manufacturing cells Multiple objective analysis Multiple robots Parameter uncertainty Redundancy Robotic surgery Robots Surgical instruments
Online-Zugang:	Volltext
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