K.Kishore Kumar, Dr.A.Srinath, A.Srikanth / International Journal of Engineering Research and Applications (IJERA) ISSN: 2248-9622 www.ijera.com Vol. 3, Issue 1, January -February 2013, pp.1173-1177 1173 | P a g e Design Analysis of parallel robot for Surgical applications K.Kishore Kumar 1 Dr.A.Srinath 2 A.Srikanth 3 1, Assistant Professor,ResearchScholar,Dept.ofMechanicalEngg,KLUniversity 2 Professor, Department of Mechanical Engineering, K L University 3 (IV/IV B.tech student), Department of Mechanical Engineering, K L University Abstract Laparoscopic surgery also referred to as minimally invasive surgery(MIS) describes the performance of surgical procedures with the assistance of a video camera and several thin instruments. During the surgical procedure, small incisions of up to half an inch are made and plastic tubes called ports are placed through these incisions. The camera and the instruments are then introduced through the ports which allow access to the inside of the patient The camera transmits an image of the organs inside the abdomen onto a television monitor. The surgeon is not able to see directly into the patient without the traditional large incision. The video camera becomes a surgeon’s eyes in laparoscopy surgery, since the surgeon uses the image from the video camera positioned inside the patient’s body to perform the procedure. In the common mode of operation in laparoscopic surgery, the surgeon holds in his right hand the laparoscope and in his left hand the surgical tool. In some cases, the surgeon works with a human assistant who holds the laparoscopic camera in a desired orientation. This arrangement is far from being satisfactory because of the fact that one of the surgeon’s hands is occupied in manipulating the laparoscope. In addition, the requirement for steadily holding the laparoscope camera for long time is physically demanding, thus, consuming unnecessary effort from the surgeon. Incorporating a robotic assistant for steadily holding the laparoscope camera reduces the workload of the surgeons, and in many procedures eliminates the necessity for a second one.The project aim to design a parallel robot/serial robot for steady holding of camera Keywords: parallelrobot ,laproscopicsurgery 1. Introduction to Robots for Medical Applications Robotic–assisted surgery is a new trend in medicine, which aims to help the surgeon by taking advantage of robots’ high accuracy and accessibility[1]. Introducing a robotic assistant as an integral part of the surgical tool array provides the surgeon with several advantages. These advantages include off-loading of the routine tasks and reduction of the number of human assistants in the operating room. In addition, by using the capabilities of the robot, the surgeon can complement his own skills with the accuracy, motion steadiness, and repeatability of the robot. The experimental comparison, presented in journal by Kavoussi, et al., 1996,[12] compared the performance of a human assistant and a robotic assistant in manipulating a laparoscope. The results of this comparison emphasized the superiority of the robot in terms of motion steadiness. Another work by Kazanzides, et al., 1995,[13] presented experimental results comparing the cross sections of a manually broached implant cavities and cross sections of robot milled cavities for hip replacement surgery. The comparison resulted in clear preeminence of the robot in performing accurate milling of the implant cavities. Noticing these features of the robot, several researchers invested efforts in assimilating the robot in the surgical arena 2)Approaches to robot assisted surgery. 1)Active execution approach, 2) semi-active approach 3) passive approach. 2.1)Active execution approach: In the active execution approach, the robot actively performs surgical procedures such as bone cutting and milling as in the works presented by Kazanzides, et al., 1995;.[13] In the first example, a serial robot performed milling of the femur bone to suite the implant in a knee surgery, and in the second one, a Stewart platform robot is used for hip surgery. 2.2)semi-active execution approach: In the semi-active execution approach, the robot is used as an aiding tool during surgery for tasks such as precise guidance of the surgical cuts without actually performing them. In this mode of operation, the robot holds the surgical tool while the surgeon moves the tool. The task of the robot is to prevent the surgeon from moving the tool out of the desired regions. Examples for this semi-active approach were presented in journel by Harris, et al., 1997[8] in total kn ee replacement surgery 2.3)passive approach: In the third approach, the passive approach, the robot is merely a tool moved directly by the