Development of a Novel Joint Protection Module for Minimally Invasive Surgery Robot

摘要：

　　Safety in Minimally Invasive Surgery (MIS) has drawn much attention since medical robots are increasingly being used in hospitals.Among all the safety assurances,mechanical safety assurance is the basic requirement for a medical robot,but traditional mechanical safety methods for industrial robots are not enough for the medical robots.In this paper,a novel type of joint protection module for MIS robots including the power transmission module,the connector module and the output shaft module is proposed,which can be used in medical robots to eliminate the hazards caused by overload and out of control of motor during MIS.Mechanical design of the novel joint protection module is discussed in the paper.Motion characteristic analysis and optimization design of the connector module is also involved.The calculation and simulation results show that the proposed joint protection module could guarantee safety under certain circumstances during MIS.

关键词： MIS robot Safety Robot joint Optimization design Motion characteristic

作者: Ning Lv Jinhua Li He Su Kang Kong Jinxing Qu

作者单位: Key Lab for Mechanism Theory and Equipment Design, Ministry of Education Department of Mechanical Engineering, Tianjin University No. 92, Weijin Road, Tianjin, China

会议类型: 国际会议

会议名称: 2013 ICME International Conference on Complex Medical Engineering(2013 ICME复合医学工程国际会议)

会议地点: 北京

会议语种:英文

页码: 334-339

在线出版日期: 2013-05-25（万方平台首次上网日期，不代表论文的发表时间）