Feasibility of a Stewart Platform with Fixed Actuators as a Platform for CABG Surgery Device
Zoran Lazarevic
Master’s Thesis
Columbia University Department of Bioengineering
October 10, 1997
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TABLE OF CONTENTS
A. 1. Current State of Research
A. 1. 1. Minimally Invasive Coronary Artery Bypass Surgery
B. 2. Inverse and Forward Kinematics
C. 1. Choosing Joints for a Stewart Platform with Fixed Actuators
C. 2. Choosing Manipulator Dimensions
C. 3. Effect of Finite Actuator Step Length on Positional Accuracy
C. 4. Practical Considerations
D. VISION, CONTROL AND TOOLING SUBSYSTEMS
Acknowledgments