عنوان البحث | ملخص البحث | Research Abstract |
Workspace mapping and control of a teleoperated endoscopic surgical robot
| | This paper presents the experimental implementation of a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the maste. |
Intelligent Control System Design for a Teleoperated Endoscopic Surgical Robot | | This paper concerns with the control system design for a teleoperated endoscopic surgical manipulator system that uses PHANTOM Omni haptic device as the master and a 4-DOF parallel manipulator (2-PUU_2-PUS) as the slave. |
Singularity Analysis of a Novel 4-DOF Surgical Robot
| | This paper presents the singularity analysis of a novel endoscopic surgical parallel manipulator. The 4-DOF, 2- PUU_2-PUS, surgical robot design has larger bending angles and workspace volume. |
Geometrical/analytical approach for reciprocal screw-based singularity analysis of a novel dexterous minimally invasive manipulator
| | This paper is concerned with the singularity analysis of a novel 4-DOF endoscopic surgical parallel manipulator (2-PUU_2-PUS). |
Development of a new 3‐DOF parallel manipulator for minimally invasive surgery
| | This article proposes a novel dexterous endoscopic parallel manipulator for minimally invasive surgery. The proposed manipulator has 3 degrees of freedom (3‐DOF), which consist of two rotational DOFs and one translational DOF (2R1T DOFs). |