title: Design of a 4 DOF laparoscopic surgery robot for manipulation of large organs.
abstract: In this paper, a 4-DOF robotic arm for tool handling in laparoscopic surgery is introduced. The robot provides sufficient force to handle endoscopic tools used for large organ manipulation and is capable of measuring the tool-tissue forces. The RCM constraint is achieved using a spherical mechanism and roll and insertion motions are provided using time pulley and spindle-drive, respectively. The forward and inverse kinematics of the robot was solved and the dimensions of its links were determined, using particle swarm optimization method, so that the maximum kinematic and dynamic performance could be achieved.
authors.affiliation: Biomechanics Lab. Sharif University of Technology, Tehran, Iran.
authors.forename: Alireza
authors.initials: A
authors.lastname: Alamdar
authors.forename: Alireza
authors.initials: A
authors.lastname: Mirbagheri
authors.forename: Farzam
authors.initials: F
authors.lastname: Farahmand
authors.forename: Mohammad
authors.initials: M
authors.lastname: Durali
mesh_terms: D055119:Elastic Modulus / Q000502:physiology*; D004867:Equipment Design; D007813:Laparotomy / Q000295:instrumentation* / Q000379:methods; D009038:Motion; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*