Design of a 2-degree-of-freedom uterus manipulator

Abstract

The following report describes the designing process of a two degrees of freedom parallel manipulator, which was designed and introduced as a new alternative for surgeries involving uterus manipulation tasks. Apart from providing two degree of freedom movement, it was also tried to develop a system that allows to omit the intervention of an assistant surgeon. This omission is supposed to be made thanks to the use of a robot, which would allow the main surgeon to manipulate the mechanism by himself. Although the 2-dof mechanism was designed and is thoroughly described below, there was no solution found during the development of the research to the robot design, but key requirements and guideline for further works are mentioned below.