Volume 30 Issue 04
Apr.  2004
Turn off MathJax
Article Contents
Xing Hongguang, Wang Lihong, Zhang Yuruet al. Dexterity analysis of robot for neurosurgery[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(04): 312-315. (in Chinese)
Citation: Xing Hongguang, Wang Lihong, Zhang Yuruet al. Dexterity analysis of robot for neurosurgery[J]. Journal of Beijing University of Aeronautics and Astronautics, 2004, 30(04): 312-315. (in Chinese)

Dexterity analysis of robot for neurosurgery

  • Received Date: 15 Nov 2003
  • Publish Date: 30 Apr 2004
  • Minimal invasive surgery assisted robot was developed in Robotics Institute in Beijing University of Aeronautics and Astronautics. Based on the requirement of neurological stereotactic surgery, dexterity of the robot was analyzed. Firstly, using concept of service sphere and service section, definition of dexterity was proposed at any point inside the workspace of the five degree-of-freedom robot; then, analysis method of workspace dexterity was proposed. Dexterity distribution within the workspace was given using numerical analysis and graphical display, and the result was verified through experiment on the robot physical prototype. With the help of dexterity distribution in workspace, reliable reference can be supplied for surgery operation planning.

     

  • loading
  • [1] Minor M, Ra M. A dexterous minipulator for minimally invasive surgery. Proceedings of the 1999 IEEE International Conference on Robotics & Automation. Detroit, Michigan,1999 [2]Yang D C H, Lai Z C. On the dexterity of robotics manilulators-service angle[J]. ASME Journal of Mechanisms, Transmissions, and Automation in Design, 1985, 107(3):162~270 [3]Song S M, Lei Chimeng, Wang Jiang. The end-effector angle and manipulator dexterous workspace[J]. ASME Journal of Mechanical Design, 1990, 112(3):278~282 [4]Lai Z C, Meng C H. The dexterous workspace of simple manipulators[J]. IEEE Journal of Robotics and Automation, 1988, 4(1):99~105 [5]Charles S, Das H, Ohm T, et al. Dexterity-enhanced telerobotic microsurgery[J]. Advanced Robotics, 1997,7:5~10 [6] 黄宇中,张宗明,何奇伟.机器人服务角的分析[J]. 机器人,1989,3(2):15~22 Huang Yuzhong, Zhang Zongming, He Qiwei. Service section analysis of robot[J]. Robot, 1989,3(2):15~22(in Chinese)
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(2289) PDF downloads(1161) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return