Design and Analysis of a Portable Reconfigurable Minimally Invasive Surgical Robot
Minimally invasive robotic surgery has many advantages over traditional open surgery and laparoscopic surgery, though current minimally invasive surgical (MIS) robots have significant drawbacks, including large volume and weight. This paper presents a new arrangement of a multi-degrees of freedom (DOF) MIS robot to maintain portability while incorporating a reconfigurable structure to achieve improved output force and stiffness. The performance and design of the reconfigurable structure are also optimized. Performance analysis shows this new reconfigurable robot can achieve a sufficiently large workspace and output forces for MIS.
Surgical robot Reconfigurable structure Minimally invasive surgical instrument Force
Chao He Shuxin Wang Xiaofei Wang Anlin Zhang Dongchun Liu
Key Lab for Mechanism Theory and Equipment Design,Ministry of Education, Tianjin University, No. 92, Weijin Road, Tianjin, China
国际会议
天津
英文
465-476
2012-07-08（万方平台首次上网日期，不代表论文的发表时间）