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Chosen problems of surgical robots design

Trochimczuk R.

International Journal of Applied Mechanics and Engineering

2012

Vol. 17, no. 3

1019-1025

In daily practice of surgical medicine telemanipulators are increasingly used to carry out minimally invasive surgery (MIS). As a whole, they are very complex systems which implement the latest technical solutions concerning a range of materials, constructions, force and visual feedback control systems with stringent security requirements in their application. This work discusses selected issues that one may encounter in the course of designing such biomechatronical systems. The mechatronical model of surgical robot will be introduced allowing further analysis of relations and flows between components and specifying hierarchy amongst them.