Development of inverse dynamic model for a surgical hybrid parallel robot with equivalent lumped masses

Robotic-assisted surgery is a continuously developing field, as robots have demonstrated clear benefits in the operating room. This paper presents the inverse dynamic model (in the case of using the laparoscope as a surgical instrument) and some characteristics of a 5-DOF hybrid parallel robot designed for minimally invasive surgery. The new inverse dynamic model is obtained using the virtual work method on the basis of dynamically equivalent lumped masses. The simulation and numerical results have been obtained for the experimental model of the developed PARASURG-5M robot, showing that the analytical inverse dynamic model could be used in the control of the robot. Finally, a comparison between the simulation data obtained in Matlab (IDM) with the simulation data through a Multi-body Simulation software (MBS), namely Adams (MBS) has been performed.

► Inverse dynamic model for a 5-DOF hybrid parallel robot is presented.
► Robot mechanical structure for minimally invasive surgery is also presented.
► Virtual work method based on the dynamically equivalent lumped masses is used.
► Simulation and numerical results of the inverse dynamic model are obtained.
► These results are validated using a multibody dynamic software simulator (MSC.Adams).