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A Serial-parallel robotic architecture for surgical tasks

Published online by Cambridge University Press:  27 April 2005

Giuseppe Carbone  and
Marco Ceccarelli
Giuseppe Carbone
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43 - 03043 Cassino (Fr) (Italy)
Marco Ceccarelli
Affiliation:
LARM: Laboratory of Robotics and Mechatronics, DiMSAT – University of Cassino, Via Di Biasio 43 - 03043 Cassino (Fr) (Italy)
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Abstract

In this paper the concept of a serial-parallel macro-milli manipulator is presented for medical applications by investigating the feasibility of combining two different robotic structures into one system. The combination of the two structures can be used as a redundant system in which stiffness, singularity and accuracy can be optimized as related to workspace demands and restrictions that are required for a priori selected medical applications. A case study has been experienced at LARM (Laboratory of Robotics and Mechatronics) at the University of Cassino through a new system composed of a commercial Adept COBRA and CaPaMan2bis (Cassino Parallel Manipulator 2bis). The performance of this system is compared with a previous serial-parallel macro-milli robotic system also developed at LARM in Cassino. Experimental tests have been carried out in order to characterize the proposed systems.

Keywords

Surgical tasksRobotic architectureTwo structures
Type
Research Article
Information
Robotica , Volume 23 , Issue 3 , May 2005 , pp. 345 - 354
Copyright
© 2005 Cambridge University Press

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