After a discussion of the basic concepts on which to build a spherical wrist with two and three degrees of freedom (DOFs), with particular reference to telemanipulators for minimally invasive surgery (MIS), a new 3-DOF mechanism with spherical master-slave motion is proposed to be applied in MIS. The proposed tool is manual, mechanical, inexpensive and intuitive to use by the operator and has great potential compared to more complex robotic devices on the market today.
Parenti-Castelli V., Fava M., Conconi M., Sancisi N. (2024). A New 3-DOF Spherical Motion Master-Slave Mechanism. Cham : Springer Nature [10.1007/978-3-031-64057-5_8].
A New 3-DOF Spherical Motion Master-Slave Mechanism
Fava M.;Conconi M.;Sancisi N.
2024
Abstract
After a discussion of the basic concepts on which to build a spherical wrist with two and three degrees of freedom (DOFs), with particular reference to telemanipulators for minimally invasive surgery (MIS), a new 3-DOF mechanism with spherical master-slave motion is proposed to be applied in MIS. The proposed tool is manual, mechanical, inexpensive and intuitive to use by the operator and has great potential compared to more complex robotic devices on the market today.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
