DYNAMICS OF MULTIBODY SURGICAL ROBOTIC SINGLE INCISION LAPAROSCOPIC SURGERY TOOL
Abstract eng: The 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.
Contributors:
Publisher:
Brno University of Technology, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno
Conference Title:
Conference Title:
Engineering Mechanics 2017
Conference Venue:
Svratka, CZ
Conference Dates:
2017-05-15 / 2017-05-18
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2017-05-22, last modified 2017-05-22
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