Mechanical Design and Kinematic Analysis of a Medical Robot Assisted Maxillofacial Surgery
Since the intricate anatomical structure of the maxillofacial region and the limitation of surgical field and instrument,the current surgery is extremely high risk and difficult to implement.In contrast to traditional manual surgery,the paper introduces a multi-arm medical robot assisted the maxillofacial surgery using the optical navigation.The mechanical design was proposed gradually to satisfy the requirements of high precision,stability and safety in surgery,including the design of robot arm,wrist and the passive joint of the end-effector.In addition,the jacobian matrix with differential method and flexibility analysis based on condition number were displayed to describe the motion performance analysis of the medical robot.Finally the kinematic simulation with forward and inverse kinematics validates the stabile motion regarding displacement,velocity and acceleration,to express that it could be implied in clinic.
Medical Robot Mechanical Design Motion Performance Kinematics Simulation
Xingguang Duan Yonggui Wang Xiangzhan Kong Meng Li Yang Yang
Intelligent Robotics Institute; Key Laboratory of Biomimetic Robots and Systems, Ministry of Education School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, Beijing, 100081, China
国际会议
2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)
北京
英文
596-601
2013-05-25（万方平台首次上网日期，不代表论文的发表时间）