On the Control and Validation of the PARA-SILSROB Surgical Parallel Robot DOI Creative Commons
Doina Pîslă, Călin Popa, Alexandru Pusca

и другие.

Applied Sciences, Год журнала: 2024, Номер 14(17), С. 7925 - 7925

Опубликована: Сен. 5, 2024

This paper presents the development of hardware and software architecture a sixdegrees freedom (DOF) parallel robot (PARA-SILSROB) by illustrating all stages undertaken to achieve experimental model robot. Based on model, control is also presented, which primarily based master–slave system through surgeon controls using master console composed commercial peripheral components (two 3D Space Mouse devices, computer, keyboard) integrated with solution developed in this study presented paper. The was according surgical protocol surgeon’s requirements, for functionality testing mechanical structure, two stands were used. first stand several steps, such as manipulation, resection, suture tissues (simulating real-life robot-assisted maneuvers) instruments. second simulation an esophagectomy esophageal cancer digestive reconstruction right intercostal approach. For phase, organs created reconstruction, their simplified models printed PolyJet technology. Furthermore, input trajectory generated compared actuator’s movements obtained results used validation proposed system.

Язык: Английский

On the Control and Validation of the PARA-SILSROB Surgical Parallel Robot DOI Creative Commons
Doina Pîslă, Călin Popa, Alexandru Pusca

и другие.

Applied Sciences, Год журнала: 2024, Номер 14(17), С. 7925 - 7925

Опубликована: Сен. 5, 2024

This paper presents the development of hardware and software architecture a sixdegrees freedom (DOF) parallel robot (PARA-SILSROB) by illustrating all stages undertaken to achieve experimental model robot. Based on model, control is also presented, which primarily based master–slave system through surgeon controls using master console composed commercial peripheral components (two 3D Space Mouse devices, computer, keyboard) integrated with solution developed in this study presented paper. The was according surgical protocol surgeon’s requirements, for functionality testing mechanical structure, two stands were used. first stand several steps, such as manipulation, resection, suture tissues (simulating real-life robot-assisted maneuvers) instruments. second simulation an esophagectomy esophageal cancer digestive reconstruction right intercostal approach. For phase, organs created reconstruction, their simplified models printed PolyJet technology. Furthermore, input trajectory generated compared actuator’s movements obtained results used validation proposed system.

Язык: Английский

Процитировано

0