Concept design and dynamic modeling of a medical parallel manipulator to assist in cardiopulmonary resuscitation

The concept of a medical parallel manipulator applied to chest compressions in the process of cardiopulmonary resuscitation (CPR) is proposed in this paper. According to the requirements of CPR action from medical aspects, a 3-PRS (prismatic-revolute-spherical) parallel manipulator (PM) is designed utilizing an architectural optimization methodology for such kind of applications. The dynamic modeling is performed for the 3-PRS PM by the approach of Lagrangian formulation, and the simulation results verify the accuracy of the derived dynamic equations quantitatively. The research work provides a sound base for the development of a medical manipulator to assist in CPR operation.