Design of a 3-DOF parallel mechanism for the enhancement of endonasal surgery

Rohan Nowell, Bijan Shirinzadeh, Leon Lai, Julian Smith, Yongmin Zhong

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

2 Citations (Scopus)


Additive manufacturing was used to build a large scale prototype of a 3-DOF, 3-PRS parallel manipulator designed for enhancing the mobility of instruments used in endonasal neurosurgery. The prototype is 5 times larger than the design, with an outer diameter of 25mm. It uses custom ball and socket joints to provide pitch and roll capabilities of ±60° while remaining compact. Testing of the robots range of motion shows the desired workspace is achievable. Visual tracking was used to record the precision of this motion. Positioning errors were relatively low with a root mean squared error of 1.1°. The prototype exhibits high strength and is able to withstand axial forces of 80 N and torques up to 300 N mm. Future research will focus on the development of a 5 mm diameter manipulator.

Original languageEnglish
Title of host publication2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM 2017)
EditorsOliver Sawodny
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages6
ISBN (Electronic)9781509060009, 9781509059997
ISBN (Print)9781509060016, 9781509059980
Publication statusPublished - 21 Aug 2017
EventIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2017 - Munich, Germany
Duration: 3 Jul 20177 Jul 2017 (Conference website) (Proceedings)


ConferenceIEEE/ASME International Conference on Advanced Intelligent Mechatronics 2017
Abbreviated titleAIM 2017
Internet address

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