A toolholder robot for laparoscopy based in the Novint Falcon interface: Workspace

A toolholder robot is proposed for laparoscopy using a Novint Falcon haptic interface, adapted to a laparoscopic forceps through a system of passive joints; this article describes the direct and inverse kinematics for both the interface as well as for the passive joints that form the robot model. The simulation allows to observe that the system maintains a pivotal movement in a Cartesian point of incision, and it is verified that the workspace of the robot will allow conducting training exercises in a simulated abdomen.