Treffer: Design Analysis of an Innovative Parallel Robot for Minimally Invasive Pancreatic Surgery

Title:
Design Analysis of an Innovative Parallel Robot for Minimally Invasive Pancreatic Surgery
Authors:
Pisla, Doina, Pusca, Alexandru, Caprariu, Andrei, Pisla, Adrian, Gherman, Bogdan, Vaida, Calin, Chablat, Damien
Contributors:
Technical University of Cluj-Napoca, Research Centre for Industrial Robot Simulation and Testing (CESTER), Laboratoire des Sciences du Numérique de Nantes (LS2N), Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique), Institut Mines-Télécom [Paris] (IMT)-Institut Mines-Télécom [Paris] (IMT)-NANTES UNIVERSITÉ - École Centrale de Nantes (Nantes Univ - ECN), Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes université - UFR des Sciences et des Techniques (Nantes univ - UFR ST), Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ)-Nantes Université (Nantes Univ)-Nantes Université - pôle Sciences et technologie, Nantes Université (Nantes Univ), Robots and Machines for Manufacturing, Society and Services (LS2N - équipe RoMas), Nantes Université (Nantes Univ)-Institut National de Recherche en Informatique et en Automatique (Inria)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique)
Source:
MESROB 2025. :466-476
Publisher Information:
CCSD; Springer Nature Switzerland, 2025.
Publication Year:
2025
Collection:
collection:CNRS
collection:EC-NANTES
collection:UNAM
collection:LS2N
collection:LS2N-ROMAS
collection:INSTITUTS-TELECOM
collection:NANTES-UNIVERSITE
collection:NANTES-UNIV
Subject Terms:
robotic surgery, workspace, Finite Element Method, design, kinematics, parallel robot, [INFO.INFO-RB]Computer Science [cs], Robotics [cs.RO]
Subject Geographic:
Poitiers, France
Original Identifier:
HAL: hal-05167638
Document Type:
Konferenz conferenceObject<br />Conference papers
Language:
English
Relation:
info:eu-repo/semantics/altIdentifier/doi/10.1007/978-3-031-96081-9_47
DOI:
10.1007/978-3-031-96081-9_47
Access URL:
https://hal.science/hal-05167638
https://hal.science/hal-05167638v1/document
https://hal.science/hal-05167638v1/file/paper_032.pdf
Rights:
info:eu-repo/semantics/OpenAccess
URL: http://creativecommons.org/licenses/by-nc/
Accession Number:
edshal.hal.05167638v1
Database:
HAL

Weitere Informationen

This paper focuses on the design of a parallel robot designed for robotic assisted minimally invasive pancreatic surgery. Two alternative architectures, called ATHENA-1 and ATHENA-2, each with 4 degrees of freedom (DOF) are proposed. Their kinematic schemes are presented, and the conceptual 3D CAD models are illustrated. Based on these, two Finite Element Method (FEM) simulations were performed to determine which architecture has the higher stiffness. A workspace quantitative analysis is performed to further assess the usability of the two proposed parallel architectures related to the medical tasks. The obtained results are used to select the architecture which fit the required design criteria and will be used to develop the experimental model of the surgical robot.