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Volume 33 Issue 02
Feb.  2007
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Journal of Beijing University of Aeronautics and Astronautics  > 2007  >  33(02): 188-191.
Liu Da, Wang Tianmiao. Dexterous workspace analysis of surgical robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(02): 188-191. (in Chinese)
Citation: Liu Da, Wang Tianmiao. Dexterous workspace analysis of surgical robot[J]. Journal of Beijing University of Aeronautics and Astronautics, 2007, 33(02): 188-191. (in Chinese)
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Dexterous workspace analysis of surgical robot

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

  • Received Date: 27 Mar 2006
  • Publish Date: 28 Feb 2007
    Abstract
  • Although it is difficult for surgical robot to have full dexterous workspace, surgical robot must have high dexterity orienting to minimally invas ive surgery. Firstly, according to the practical requirement of surgery, quadran t segmentation principle was proposed. The surgical workspace was divided into 8 quadrants, so the dexterous workspace occupied only eighth workspace. And then, the analysis relation was derived between dexterous workspace and workspace of surgical robot. The workspace area of surgical robot could be obtained from the analysis relation, and then the kinematics parameters of surgical robot could be confirmed. Finally, kinematics parameters of the self-defined surgical robot w e re optimized. Therefore, this principle decreases the demand on dexterity of sur gical robot and resolves the conflict between structure and dexterity of robot.

     

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    • References(1)
  • [1] Liu Da, Wang T M. Study on robot-assisted minimally invasive neurosugery and its clinical application Anna Sant. Proceedings o f the IEEE International Conference on Robotics & Automation.Seoul:Piscataway,20 01:2008-2013 [2] Mark M, Ranjan M. A dexterous manipulator for minimally invasive surgery Schultz A. Proceedings of the 1999 IEEE International Conference on Robot ics & Automation. Detroit:Michigan,1999:2057-2064 [3] 刘达. 微创外科机器人若干关键技术研究 . 北京:北京航空航天大学机械工程及自动化学院,2003 Liu Da. Research on the key technologies of minimally invasive surgical robot . Beijing:School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, 2003(in Chinese) [4] Duffy J, Crane C. A displacement analysis of the general spatial link 7R mechanism[J]. Mechanism and Machine Theory,1980,15(3):153-169 [5] 田增民. 现代立体定向神经外科学[M]. 北京:中国科技出版社, 1997 Tian Zengmin. Modern stereotactic neurosurgery[M]. Beijing:China Science & Te chnology Press, 1997(in Chinese)
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