Manipulability Analysis and RCM Position Optimization for Laparoscopic Operations Using a Simplified Planar 4-DoF Surgical Robot Mechanism

The article presents the results of a manipulability analysis and optimal remote center of motion (RCM) frame placement based on the manipulability index for a simplified model of a planar laparoscopic surgical robot system with a control-based RCM constraint. The paper presents an analytical kinema...

Celý popis

Podrobná bibliografie

Hlavní autoři:	Adam Wolniakowski, Vassilis Moulianitis, Roman Trochimczuk, Zhuoqi Cheng, Michał Kuciej, Kanstantsin Miatliuk, Charalampos Valsamos
Médium:	Artigo
Jazyk:	Inglês
Vydáno:	MDPI AG 2026-03-01
Edice:	Applied Sciences
Témata:	robot positioning manipulability robot accuracy surgical robot minimally invasive surgery
On-line přístup:	https://www.mdpi.com/2076-3417/16/6/2858
Tagy:	Přidat tag Žádné tagy, Buďte první, kdo vytvoří štítek k tomuto záznamu!