F. CEPOLINA

In robot-assisted minimally invasive laparoscopic surgery, dexterity has a high relevance. Ideally, the surgeon should feel like in open surgery with the robotic instrument able to perform all tool motions in a suitably wide workspace. The avoidance of the surrounding organs and the adaptation of the motion of the instrument to the space...

The paper discusses the development of the dynamic model and the design of the control system of a new parallel robot called PmarNeedle. The PmarNeedle was purposely designed for needle surgery, one of the current frontiers of minimally invasive surgery, as slave robot driving the surgical tool within a surgical theater whose dimensions are...