Workspace analysis of two innovative parallel robots for single incision laparoscopic surgery

Robotic assisted for Single Incision Laparoscopic Surgery (SILS) represents a viable alternative for most minimally invasive procedures providing shorter recovery time, reduced hospitalization time, and better esthetic results. The paper presents a family of innovative parallel robots designed for SILS, for which a detailed analysis of the workspace was performed in accordance with the medical task established by the specialists. Different types of workspaces were investigated in order to validate the robotic systems for the SILS medical task.