Abstract This paper presents the kinematic modeling, workspace analysis, and simulation of a novel modular parallel robot with four degrees of freedom (DOF), specifically designed to support minimally invasive pancreatic surgery. The proposed robotic system is capable of manipulating a variety of surgical instruments—including endoscopes, retractors, forceps, scissors, and irrigators—thus enhancing the precision and ergonomics of complex pancreatic procedures. The study outlines the clinical requirements and translates them into a tailored robotic architecture, followed by a detailed inverse kinematics formulation and workspace evaluation, including singularity analysis. A numerical simulation of a medically relevant trajectory was conducted in MATLAB, demonstrating the robot's ability to follow precise surgical paths with high repeatability and stability. These initial results validate the feasibility of the proposed design and highlight its potential for integration into advanced surgical workflows.
Pîslă et al. (Thu,) studied this question.