Search results for "Ball joint"
showing 2 items of 2 documents
Frame-based and frameless endoscopic procedures in the third ventricle.
1997
Stereotactic guidance is useful for planning an accurate trajectory to the third ventricle. A guiding block with a ball joint was developed for frame-based endoscopy and adaptors for arm-based and armless navigation systems. Between 1992 and 1996, 52 patients were operated on endoscopically in the third ventricle under stereotactic guidance. Thirty-eight ventriculostomies, 13 biopsies and 10 cystic lesions were performed. The coordinates of two points were calculated; one in the foramen of Monro and the second in the third ventricle. The ventriculostomy was performed under endoscopic control bluntly with a Fogarty catheter in front of the basilar artery. Twenty-seven (71%) of the patients h…
A robust forward-displacement analysis of spherical parallel robots
2009
The forward-displacement analysis of spherical parallel robots (SPRs) is revisited. A robust approach, based on the input–output (I/O) equation of spherical four-bar linkages, is proposed. In this approach, the closed-loop kinematic chain of a SPR is partitioned into two four-bar spherical chains, whose I/O equations are at the core of the analysis reported here. These equations lead to a trigonometric equation in the joint angles, which is solved semigraphically to obtain the joint variables for the determination of the moving plate orientation. Examples are included to demonstrate the application of the method.