Application Oriented Modelling and Simulation of an Innovative Parallel Robot for Single Incision Laparoscopic Surgery

摘要

Abstract Single-incision laparoscopic surgery (SILS) is on the path of becoming a standard procedure in minimally invasive surgery due to the outstanding results obtained both during and after the medical act, these being defined by the reduced hospitalization time, the reduced recovery time, and the reduced visibility of the incision. The paper presents the modeling and simulation of a new parallel robot concept with 6 Degrees of Freedom (DOF), called PARA-SILSROB used for the single incision laparoscopic surgery. The paper focuses on the inverse kinematics, the preliminary design, and the robot control system architecture of PARA-SILSROB. A CAD motion simulation validates the mathematical model using Siemens NX.