Rasim Alizade; Konul Huseynzade

doi:10.19080/RAEJ.2025.06.555694

Structural Synthesis of Medical Manipulators with General Constraint two

Rasim Alizade* and Konul Huseynzade

Machine Design and Industrial Technologies Department, Azerbaijan Technical University, Baku, Azerbaijan

Submission:July 14, 2025;Published:July 23, 2025

*Corresponding author:Machine Design and Industrial Technologies Department, Azerbaijan Technical University, Baku, Azerbaijan

How to cite this article: Rasim Alizade and Konul Huseynzade. Structural Synthesis of Medical Manipulators with General Constraint two. Robot Autom Eng J. 2025; 6(4): 555694.DOI: 10.19080/RAEJ.2025.06.555694

Abstract

Over constrained parallel robot manipulators are used in medicine. The end effector of robots in medicine operations usually generates contact by higher kinematic pair. Transformation the higher kinematic pair by lower kinematic pairs solve the problem in structural synthesis of medical robots. In this case we create structural groups and robot manipulators when the number of end effector λ=4 motion and general constraint d=2 that will generate given motion of end effector. Newly robot manipulators can be used in medicine.

Keywords: Sphere in torus slot; Overconstrained; Robot manipulators; Structural synthesis

Introduction

The problem of structural synthesis of medical robots needed to define the position and orientation of end effectors. Advantages for given motion of end effector are realization the accuracy of simplicity for control. The new type of robot has been described by performing the structural synthesis of medical robot with general constraint two.

In investigation [1] the mobility number of closed independent loops is variable parameters and number of independent loops is described as L=c−B, (B- number of platform and c=c_b+c_l+c_j sum of branch, legs and connection joints). So, new mobility equation will as

So, when L=const, mobility equation will

. The synthesis problem of 4DoF parallel manipulator 3T1R were showed in [2]. A classification of parallel manipulator based on the number of mobile platform, number of legs and branches is described by [3]. In [4] new structural formulas for serial and parallel platform Euclidean robot manipulators with variable general constraints of branch loops and legs were presented. In the paper [5] a new formula is described for robot manipulators by using screw with variable pitch.

Structural Synthesis Of 4dof Over Constraint Medical Robot Manipulators

A medical robotic manipulator is a robotic device primarily designed to assist physicians during surgeries or medical procedures. These robots enable healthcare professionals to perform tasks with greater precision and efficiency in fields such as surgery, diagnostics, and rehabilitation. The manipulator functions as a robotic arm capable of performing various operations without directly interfering with the patient’s body.

Advantages of Medical Robotic Manipulators:

High Precision and Finesse: Manipulators can perform movements with a much greater degree of precision than the human hand. This feature is especially critical in surgical operations involving small and sensitive areas, such as the brain or heart.
•Minimally Invasive Procedures: Medical robotic manipulators allow for surgeries to be conducted with minimal incisions and reduced tissue damage. This accelerates the patient’s recovery time and reduces postoperative discomfort.
•Reduction of Human Errors: Robotic systems help minimize human errors, resulting in more reliable outcomes. Each stage of the operation is carried out with high precision, ensuring more successful and consistent results.
•Improved Visibility During Surgery: Robotic manipulators provide high-definition imaging, offering surgeons enhanced visibility and better detail during procedures.
•Surgeon Comfort and Efficiency: Manipulators provide better positioning and a greater range of movement, which allows surgeons to perform operations for extended periods without experiencing fatigue.
• Remote Intervention and Control: Medical robotic manipulators enable surgeries to be managed remotely, allowing surgeons to perform procedures from distant locations.
• Medical Data Monitoring and Analysis: Manipulators can collect and analyze live data during procedures, assisting healthcare professionals in making more informed and accurate decisions.

During the explorations of the over constraint robot manipulators capable of performing the mobility of sphere in torus slot. It is known that the sphere in the circular slot has the mobility DoF λ = 4 and constraint DoC d = 2 (Table 1). The sections of (Table 1.1) describes the creations of the structural groups with general constraint 2 as well as the description on the angular conditions for the subspace λ = 4 .

Over constraint parallel manipulators with general constraint two and degree of freedom (F=4) for classes four were introduced in (Table 1.2). The last step in structural synthesis of manipulators is creating the constructive synthesis of over constrained robot manipulators with general constraints two. In the (Table 1.3) demonstrate the structures of medical parallel over constrained robot manipulators with four DoF.

The over constraint robot manipulators don’t have a singular configuration and high flexibility. The gripper of over constraint robot manipulators with four degrees of freedom will perform the motion of a higher kinematic pair of sphere in torus slot that will described the given necessary path generation trajectories.

Conclusion

The medical surgical robots describe the motion of end effector in subspaces. So, realization of over constrained motion can be designed by the medical robot with 4 DoF and 2 Doc. This article was introduced a methodology for the structural synthesis medical robot end effector of which described the given motion. The designed over constrained robot is considered for application in medicine.