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Design of spherical parallel mechanisms for application to laparoscopic surgery

Published online by Cambridge University Press:  09 April 2002

Temei Li  and
Shahram Payandeh
Temei Li
Affiliation:
Experimental Robotics Laboratory, School of Engineering Science, Simon Fraser University, Burnaby, British Columbia (Canada) V5A 1S6
Shahram Payandeh
Affiliation:
Experimental Robotics Laboratory, School of Engineering Science, Simon Fraser University, Burnaby, British Columbia (Canada) V5A 1S6
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Abstract

This paper addresses an optimal study of workspace for spherical parallel mechanism for laparoscopic surgery. The spherical parallel manipulator has been selected because of its characteristics. Two designs have been studied for maximizing their workspaces; a haptic device, as part of training system, and a laparoscope holding mechanism. The laparoscope holding mechanism has to satisfy additional constraints by minimizing the occupied space above the patient. The objective is to solve design problem to offer the maximal workspace for such mechanisms. The design of a haptic interface and the laparoscope holding mechanism based on the optimal parameters are presented. This paper presents a Genetic Algorithm (GA) approach for selecting optimal design parameters for maximizing workspace of spherical parallel mechanism.

Keywords

Laparoscopic surgerySpherical parallel mechanismsWorkspace studyGenetic algorithms
Type
Research Article
Information
Robotica , Volume 20 , Issue 2 , March 2002 , pp. 133 - 138
Copyright
© 2002 Cambridge University Press

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