ARTICLE
Comparative analysis of RCM mechanisms based on parallelogram used in surgical robots for laparoscopic minimally invasive surgery
 
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Bialystok University of Technology, Department of Automatic Control and Robotics, Bialystok, Poland
Submission date: 2018-11-04
Acceptance date: 2020-02-24
Online publication date: 2020-10-15
Publication date: 2020-10-15
 
Journal of Theoretical and Applied Mechanics 2020;58(4):911–925
 
KEYWORDS
ABSTRACT
This article presents results of comparative analysis of kinematics and dynamics of five varieties of the parallelogram-based RCM mechanism applied in real-life designs of surgical robots. Analyses were conducted using ANSYSWorkbench v. 16.2. Obtained results allow for formulation of guidelines concerning conscious selection of the form of the RCM mechanism and assessment of its usefulness from the perspective of application in new solutions of laparoscopic surgical robots.
 
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