Kinematic design and dynamic analysis of a medical parallel manipulator for chest compression task

The kinematic design of a medical parallel manipulator used for chest compressions in the process of cardiopulmonary resuscitation (CPR) is presented in this paper. According to the requirements of CPR action from medical viewpoints, a 3-PRS (prismatic-revolute-spherical) parallel manipulator (PM) is designed utilizing an architectural optimization methodology for such applications. The dynamic modeling is performed for the 3PRS PM by two different approaches of Lagrangian formulation and virtual work principle utilizing a simplification hypothesis. Simulation results verify the accuracy of the derived dynamic equations quantitatively, and demonstrate the rationality of the adopted simplified hypothesis. The research work presented here provides a sound base to develop a new medical manipulator to assist in CPR operation, which is expected to reduce the workload of doctors in rescuing patients significantly