Simon Fraser University

Hendrick Van Der Wal

Shahram Payandeh

Temei Li

A method and apparatus for a spherical parallel mechanism are disclosed. The invention involves a platform and at least three kinetic chains. The kinetic chains each comprise a link with one end pivotally coupled to the platform about a first axis and a second end pivotally coupled to an arm about a second axis. The arms in all of the kinetic chains share a common third axis. All of the first, second and third axes for all of the kinetic chains pass through a stationary point in space. Movement of the arms to selected angular positions about the common third axis adjusts an orientation and position of the platform about a spherical surface centered at the stationary point. The parallel mechanism has particular advantages for manipulating implements, such as cameras used in laparoscopic surgery, when the implements are mounted to the mobile platform.

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Maple Ridge, Canada

Hendrick Van Der Wal