A Master-Slave Robot System for Minimally Invasive Laryngeal Surgery

摘要：

To solve the troubles existing in laryngeal surgical operation and extend surgeons ability, a master-slave robot system with the name “Microhand- was designed. The novel slave robot employs hybrid mechanism and enables the 7 DOF end effector complex surgical manipulation ability. Mechanical details of the slave robot were described and an experiment prototype was established. The kinematics of master device and slave robot were studied followed by the master-slave mapping arithmetic. Redundancy control solution for the slave manipulator trajectory planning was also investigated. The experiment results approved both the design of the system and the master-slave mapping arithmetic. Suturing experiment further validated the potential of the system to enhance the laryngeal surgical operation.

作者: Haifeng Luo Jienan Ding Shuxin Wang

作者单位: School of Mechanical Engineering,TianJin University,TianJin,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 782-787

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）