Journal of Theoretical
and Applied Mechanics
0, 0, pp. , Warsaw 0

COMPARATIVE ANALYSIS OF RCM MECHANISMS BASED ON PARALLELOGRAM USED IN SURGICAL ROBOTS FOR LAPAROSCOPIC MINIMALLY INVASIVE SURGERY

Roman Trochimczuk
This article presents the results of comparative analysis of the kinematics and dynamics of five varieties of the parallelogram-based RCM mechanism applied in real-life designs of surgical robots. Analyses were conducted using ANSYS Workbench v. 16.2. Obtained results will allow for formulation of guidelines concerning conscious selection of the form of RCM mechanism and assessment of its usefulness from the perspective of application in new solutions of laparoscopic surgical robots.
Keywords: RCM mechanism, parallelogram, surgical robots, MIS, FEM simulation

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