Volume 30 Issue 04
Apr.  2004
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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.

     

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