Proceedings Vol. 23 (2017)
ENGINEERING MECHANICS 2017
May 15 – 18, 2017, Svratka, Czech Republic
Copyright © 2017 Brno University of Technology, Faculty of Mechanical Engineering, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)
list of papers scientific commitee
pages 558 - 561, full text
The current paper introduces a method for modeling the dynamics of highly specialized robotic tools, used in the Minimally Invasive Surgery (MIS) or Single Incision Laparoscopic Surgery (SILS) operations. The method is based on an original approach presented in detail in (Wittbrodt et al, 2016). The kinematic model of the analyzed laparoscopic tool was presented earlier in (Leniowski et al., 2010). In the current paper the model is extended by including the dynamics of the tool and the flexibility of its links. Numerical results demonstrate the influence of loading conditions on accuracy of movements of the end effector.
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