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�������պ����ѧѧ�� 2008, Vol. 34 Issue (7) :857-860    DOI:
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Topological structure optimization of medical hybrid robot based on dexterity
Yun Chao, Tang Can*
School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� The current methods for dexterity analysis of medical robot were summarized. With numerical approach based on service sphere, dexterity calculation for 5R serial robot and for 4H parallel robot was implemented, and each task dexterity was obtained. Because of kinematics-��complexity of hybrid redundant 9-DOF robot, and also because of being difficult to gain analytic solution of inverse kinematics, the displacement manifold for serial robot and displacement manifold for parallel robot were provided. At the same time, the displacement manifold for hybrid robot was deduced. In terms of above investigation, the dexterity analysis method was put forward, namely method based on Riemann manifold. The general analytic expression of hybrid robot dexterity was defined. On the base of area calculation for circumscribed ellipsoid surface of Riemann surface, a conclusion that hybrid robot dexterity is much greater than the dexterity needed for CT-guided surgery was drew. A novel idea for analysis and measurement of dexterity which is an important performance for hybrid robot in minimally invasive surgery was provided.
Keywords�� dexterity   minimally invasive surgery   hybrid robot   displacement manifold   topological structure     
Received 2007-07-04;
Fund:

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About author: �O ��(1952-),��,������ԭ��,����,cyun18@sina.com.
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�O��, ����.CT��������ҽ�ƻ�����������о�[J]  �������պ����ѧѧ��, 2008,V34(7): 857-860
Yun Chao, Tang Can.Topological structure optimization of medical hybrid robot based on dexterity[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2008,V34(7): 857-860
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http://bhxb.buaa.edu.cn//CN/     ��     http://bhxb.buaa.edu.cn//CN/Y2008/V34/I7/857
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