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Volume 31 Issue 07
Jul.  2005
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Journal of Beijing University of Aeronautics and Astronautics  > 2005  >  31(07): 748-752.
Tang Can, Yun Chao. Analysis of kinematics and dexterity for new surgery robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 748-752. (in Chinese)
Citation: Tang Can, Yun Chao. Analysis of kinematics and dexterity for new surgery robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 748-752. (in Chinese)
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Analysis of kinematics and dexterity for new surgery robot

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

  • Received Date: 30 Oct 2004
  • Publish Date: 31 Jul 2005
    Abstract
  • Based on the requirement of clinical application, the structure characteristic of minimally invasive neurosurgery assisted robot was analyzed. Space kinematics model of robot was founded. The fact that reverse solution of the robot has analytic solution was confirmed. The correctness of reverse solution was validated via VC simulation program. Simultaneously some key problem in founding space kinematics model of robot was argued. Three methods of dexterity analysis were presented, and the freedom of robot dexterity was defined, the dexterity of robot wrist was analyzed. With concept of posture sphere, wrist dexterity definition of the five degree-of-freedom robot was proposed; boundary expression of vector tool posture sphere was presented. Analysis method of wrist dexterity was proposed, the distribution of robot dexterity area was determined and provided by MATLAB simulation analysis. With the help of kinematics and dexterity analysis, reliable reference can be supplied for structure design, and the foundation of realization of robot control function would be established.

     

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    • References(1)
  • [1] Howe D, Yoky Matsuoka. Robotics for surgery[M] London:Biomed, 1999 [2] 陈 寅,林良明,高立明,等.微型电子机械系统应用于微创外科手术的研究[J] 国医疗器械,2000,24(5):283~286 Chenyin, Lin Liangming, Gao Liming, et al. Research on micro-electromechanical system used for minimally invasive neurosurgery[J] China Medical Instrument, 2000, 24(5):283~286(in Chinese) [3] Boerner M, Lahmer A, Bauer A, et al. Experiences with the ROBODOC system in more than 1000 cases . In:Proc Computer Assisted Radiology (CARS’98) .Moscow:Obninsk ,1998. 689~693 [4] HA Paul. Accuracy of canal preparation in total hip replacement surgery using custom broaches . In:Proc First International Symposium on Custom Made Prostheses . Florida:Walker P S,1988. 1134~1150 [5] 毕诸明.机器人姿态空间的分析与综合[J] 机械科学与技术,1996,15(1):11~16 Bi Zhuming. Analysis and integration of robot pose space[J] Mechanical Science and Technology, 1996,15(1):11~16(in Chinese) [6] 邢洪光,王利红,张玉茹.神经外科手术机器人灵活性分析[J] 京航空航天大学学报,2004,30(4):312~315 Xing Hongguang, Wang Lihong, Zhang Yuru. Dexterity analysis of robot for neurosurgery[J] Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(4):312~315(in Chinese)
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