On the Development of an Innovative Surgical Parallel Robotic System
摘要
This paper presents the development of the experimental model of an innovative parallel robot for Single Incision Laparoscopic Surgery (SILS). The proposed solution implements the master-slave architecture. The research is mostly focused on the development of the slave robotic system, which is managed using two readily available 3D Space Mouse devices. The user interface is thoughtfully crafted to align with the specific requirements of surgeons. Additionally, we present a detailed analysis of the motion trajectory of the slave robot, generated based on the kinematic model integrated within the control system.