This paper presents the concept of a parallel medical robotic service system to assist in surgical procedure involving precise exploratory trepanation holes patient’s skull. The target position and orientation tool cranial region is determined using prior intracranial image analysis an external imaging system. A trepanning actuation attached end-effector robot. will act as accurate positioner f...

The duration of diastole can be defined in terms of mechanical events. Mechanical diastolic duration (MDD) is comprised by the phases of early rapid filling (E wave), diastasis, and late atrial filling (A wave). The effect of heart rate (HR) on diastolic duration is predictable from kinematic modeling and known cellular physiology. To determine the dependence of MDD of each phase and the veloci...

In this paper, a kineto-static analysis for an articulated six-wheeled rover called RobuRoc is investigated. A methodology based on reciprocal screw systems is developed for the kinematic modeling and analysis of such multi-monocycle like kinematic structure. A six dimensional force ellipsoid is introduced for the evaluation of traction performances.