Kinematics and workspace analysis of an innovative 6-dof parallel robot for sils

The paper presents the kinematic and workspace analysis of a 6-DOF parallel robot for Single Incision Laparoscopic Surgery (SILS), a type of minimally invasive surgery where the surgical instruments are inserted into the operating field through a single port (trocar). First, the robotic-assisted task is defined (as a medical protocol) and then the kinematic models of the parallel robot are obtained using a vector method. While an analytical solution is derived for the parallel robot inverse kinematics, its forward kinematics is numerically solved. The workspace generation and the initial numerical simulations, performed with respect to the required medical task, validate the robotic system for the SILS medical task.