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

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

718

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620120

Filename

620120