Design Analysis of an Innovative Parallel Robot for Minimally Invasive Pancreatic Surgery
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arXiv
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| Format: | Preprint |
| Veröffentlicht: |
2025
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| _version_ | 1866916849848942592 |
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| author | Pisla, Doina Pusca, Alexandru Caprariu, Andrei Pisla, Adrian Gherman, Bogdan Vaida, Calin Chablat, Damien |
| author_facet | Pisla, Doina Pusca, Alexandru Caprariu, Andrei Pisla, Adrian Gherman, Bogdan Vaida, Calin Chablat, Damien |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_13787 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Design Analysis of an Innovative Parallel Robot for Minimally Invasive Pancreatic Surgery Pisla, Doina Pusca, Alexandru Caprariu, Andrei Pisla, Adrian Gherman, Bogdan Vaida, Calin Chablat, Damien Robotics 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. |
| title | Design Analysis of an Innovative Parallel Robot for Minimally Invasive Pancreatic Surgery |
| topic | Robotics |
| url | https://arxiv.org/abs/2507.13787 |