Laparoscopic Robot Design and Kinematic Validation

摘要

This paper presents a new laparoscopic robot for helping surgeon in minimally invasive surgery. Its links and joints designed as individual components are easy detached and maintained. In order to demonstrate the robot suitability to develop the task it has been designed for, a validation has been performed. This validation consists of calculation of inverse kinematics and task dexterity distribution. Finally, simulation basing on the task dexterity distribution is carried out.