Title :
The PantoScope: a spherical remote-center-of-motion parallel manipulator for force reflection
Author :
Baumann, Roger ; Maeder, Willy ; Glauser, Dominique ; Clavel, Reymond
Author_Institution :
Inst. of Microeng., Swiss Federal Inst. of Technol., Zurich, Switzerland
Abstract :
Force reflecting manual man-machine interfaces can provide the user with useful kinesthetic information in teleoperation tasks and virtual reality applications. In this paper we discuss the design of a novel spherical remote-center-of-motion manipulator for force reflection in a laparoscopic surgery simulation environment. A description of the pantograph-linkage based parallel structure is presented together with a discussion of its direct and inverse geometric models, instantaneous kinematics and statics, and usable workspace
Keywords :
biocontrol; feedback; force control; geometry; man-machine systems; manipulator kinematics; surgery; PantoScope; direct geometric models; force reflecting manual man-machine interfaces; force reflection; instantaneous kinematics; instantaneous statics; inverse geometric models; kinesthetic information; laparoscopic surgery simulation environment; spherical remote-center-of-motion parallel manipulator; teleoperation tasks; usable workspace; virtual reality; Force feedback; Force sensors; Inverse problems; Kinematics; Manipulator dynamics; Minimally invasive surgery; Reflection; Solid modeling; Surgical instruments; Virtual reality;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620120
