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Parallel Kinematics for Haptic Feedback in Three Degrees of Freedom: Application in a Handheld Laparoscopic Telemanipulation System

Kassner, Sebastian and Werthschützky, Roland (2010):
Parallel Kinematics for Haptic Feedback in Three Degrees of Freedom: Application in a Handheld Laparoscopic Telemanipulation System.
Berlin / Heidelberg, Springer, In: Haptics: Generating and Perceiving Tangible Sensations International Conference, EuroHaptics 2010, Amsterdam, 8.-10. Jul 2010, In: Lecture Notes in Computer Science, [Online-Edition: http://dx.doi.org/10.1007/978-3-642-14064-8],
[Conference or Workshop Item]

Abstract

In this paper parallel kinematic structures are analyzed to realize a haptic joystick with three translational degrees of freedom. The Chebychev-Grübler-Kutzbach criterion is applied to determine kinematic topologies. Resulting topologies are listed comprising prismatic, rotational, universal and cylindrical joints. Furthermore restrictions are compiled to enforce pure translational behaviour. An RUU mechanism is chosen as an applicable structure and adapted to be applied in a handheld control interface for a laparoscopic telesurgical system. An algorithm has been implemented to determine workspace size and shape. Three exemplary workspace shapes are shown and the occurring actor torques are calculated using the Jacobian matrix.

Item Type: Conference or Workshop Item
Erschienen: 2010
Creators: Kassner, Sebastian and Werthschützky, Roland
Title: Parallel Kinematics for Haptic Feedback in Three Degrees of Freedom: Application in a Handheld Laparoscopic Telemanipulation System
Language: English
Abstract:

In this paper parallel kinematic structures are analyzed to realize a haptic joystick with three translational degrees of freedom. The Chebychev-Grübler-Kutzbach criterion is applied to determine kinematic topologies. Resulting topologies are listed comprising prismatic, rotational, universal and cylindrical joints. Furthermore restrictions are compiled to enforce pure translational behaviour. An RUU mechanism is chosen as an applicable structure and adapted to be applied in a handheld control interface for a laparoscopic telesurgical system. An algorithm has been implemented to determine workspace size and shape. Three exemplary workspace shapes are shown and the occurring actor torques are calculated using the Jacobian matrix.

Series Name: Lecture Notes in Computer Science
Volume: 6191
Place of Publication: Berlin / Heidelberg
Publisher: Springer
Uncontrolled Keywords: minimally invasive surgery, parallel kinematic, topologies, translational parallel machines, workspace, force transmission
Divisions: 18 Department of Electrical Engineering and Information Technology
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Measurement and Sensor Technology
Event Title: Haptics: Generating and Perceiving Tangible Sensations International Conference, EuroHaptics 2010
Event Location: Amsterdam
Event Dates: 8.-10. Jul 2010
Date Deposited: 16 Aug 2010 14:18
Official URL: http://dx.doi.org/10.1007/978-3-642-14064-8
Additional Information:

DOI 10.1007/978-3-642-14064-8

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