A design of slave surgical robot based on motion capture
The synthesis of movement and the biomechanics are introduced into the design methodology for the development of a minimally invasive surgery (MIS) robot manipulator : compact, lightweight and close to the surgical gesture. The goal of this study is progress toward a next-generation surgical robot s...
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| Published in: | 2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) pp. 600 - 605 |
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| Main Authors: | , , , |
| Format: | Conference Proceeding |
| Language: | English |
| Published: |
IEEE
01-12-2012
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| Online Access: | Get full text |
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| Summary: | The synthesis of movement and the biomechanics are introduced into the design methodology for the development of a minimally invasive surgery (MIS) robot manipulator : compact, lightweight and close to the surgical gesture. The goal of this study is progress toward a next-generation surgical robot system that will help surgeons deliver health-care more effectively. Based on an extensive database surgical measurements, the workspace requirements were clearly defined. The pivot point constraint in MIS makes the spherical manipulator a natural candidate. The kinematic model of the proposed structure is performed and singularities are avoided. A synthesis problem is formulated and as a result the optimal link lengths of a medical robot are determined. |
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| ISBN: | 1467321257 9781467321259 |
| DOI: | 10.1109/ROBIO.2012.6491032 |