Abstract
The main objective of this work is focused on improving some technical deficiencies of existing laparoscopic executive instruments to robots. For this reason two main problems have been overtaken: i) to perform a kinematic-structural analysis of existing executive instruments by structural and kinematic criteria, to estimate their engineering characteristics, motivating the need to develop new ones and ii) to develop functionally operating model of an executive tool, with simplified kinematics of actuation of end-effectors, with higher reliability and easier support of the sterility of the instrument. In contrast to daVinchi robot system which includes structures with three orthogonal rotations this study describes other decision with combination of perpendicular and parallel rotations. The design is simplified, no additional transmission mechanisms of the executive links are required, which in turn facilitates the process of control of the device and proved higher reliability.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
