@inproceedings{d0f20cbf7f8c4317972c8f6e6be18b18,
title = "Design and control system development of a new 3R1T parallel robot for minimally invasive surgery",
abstract = "Minimally invasive surgery (MIS) has revolutionised many surgical procedures, however, there are still challenges that impact surgical outcomes. As a result, robotic surgery has become increasingly popular in the medical sector. This paper describes the kinematic design, motor torque requirement analysis, control system development and preliminary precision results for a new, patented, 3R1T spherical parallel robot with a remotely actuated translational degree of freedom for surgical applications. ",
keywords = "cable-driven, kinematic analysis, minimally invasive surgery, parallel robot, remote center of motion, surgical robot",
author = "Aislinn McAleenan and Yinglun Jian and Yan Jin and Dan Sun and Johnny Moore",
year = "2025",
month = jul,
day = "11",
doi = "10.1007/978-3-031-96081-9\_45",
language = "English",
isbn = "9783031960802",
series = "Mechanisms and Machine Science",
publisher = "Springer Cham",
pages = "448--457",
editor = "Laribi, \{Med Amine\} and Giuseppe Carbone and Doina Pisla and Said Zeghloul",
booktitle = "New Trends in Medical and Service Robotics (MESROB 2025): Proceedings",
note = "9th International Workshop on New Trends in Medical and Service Robots, MESROB 2025 ; Conference date: 02-07-2025 Through 04-07-2025",
}