000021354 001__ 21354
000021354 005__ 20170522124350.0
000021354 04107 $$aeng
000021354 046__ $$k2017-05-15
000021354 100__ $$aKulesza, Z.
000021354 24500 $$aDYNAMICS OF MULTIBODY SURGICAL ROBOTIC SINGLE INCISION LAPAROSCOPIC SURGERY TOOL

000021354 24630 $$n23.$$pEngineering Mechanics 2017
000021354 260__ $$bBrno University of Technology, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno
000021354 506__ $$arestricted
000021354 520__ $$2eng$$aThe current paper introduces a method for modeling the dynamics of highly specialized robotic tools, used in the Minimally Invasive Surgery (MIS) or Single Incision Laparoscopic Surgery (SILS) operations. The method is based on an original approach presented in detail in (Wittbrodt et al, 2016). The kinematic model of the analyzed laparoscopic tool was presented earlier in (Leniowski et al., 2010). In the current paper the model is extended by including the dynamics of the tool and the flexibility of its links. Numerical results demonstrate the influence of loading conditions on accuracy of movements of the end effector.

000021354 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000021354 653__ $$aDynamics modelling, Flexible links modelling, Multibody system, SILS, MIS.

000021354 7112_ $$aEngineering Mechanics 2017$$cSvratka, CZ$$d2017-05-15 / 2017-05-18$$gEM2017
000021354 720__ $$aKulesza, Z.$$iTrochimczuk, R.
000021354 8560_ $$ffischerc@itam.cas.cz
000021354 8564_ $$s942759$$uhttps://invenio.itam.cas.cz/record/21354/files/0558.pdf$$yOriginal version of the author's contribution in proceedings, page 558, section BIO.
000021354 962__ $$r21225
000021354 980__ $$aPAPER