Engineering Mechanics

International Conference

Proceedings Vol. 23 (2017)


ENGINEERING MECHANICS 2017

23rd INTERNATIONAL CONFERENCE
May 15 – 18, 2017, Svratka, Czech Republic
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Editors: Vladimír Fuis

Copyright © 2017 Brno University of Technology, Faculty of Mechanical Engineering, Institute of Solid Mechanics, Mechatronics and Biomechanics, Brno

ISBN 978-80-214-5497-2 (printed)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

DYNAMICS OF MULTIBODY SURGICAL ROBOTIC SINGLE INCISION LAPAROSCOPIC SURGERY TOOL
Kulesza Z., Trochimczuk R.
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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Text and facts may be copied and used freely, but credit should be given to these Proceedings.

All papers were reviewed by members of the scientific committee.


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