Motion Planning and Error Analysis in Robot Assistant Micro-Surgery System

Author

Yang, Tian ; Zhang, Jianxun ; Wang, Shumei ; Tan, Huan ; Luo, Wenqin

Author_Institution

Inst. of Robotics & Inf. Autom. Syst., Nankai Univ., Tianjin

Volume

2

fYear

0

fDate

0-0 0

Firstpage

8819

Lastpage

8823

Abstract

This paper firstly described the technical performances required for the robot that could be used in the micro-surgery. Then it made a simple introduction to the prototype of robot assistant micro-surgery (RAMS) system. After an analysis to the typical operations of micro-surgeries, we developed a simple and practical motion planning algorithm based on S-curve. Both kinematical and dynamical simulations were carried out as verifications to its validity and efficiency. At last, the article presented the results of micro-surgical experiment with animal

Keywords

medical robotics; microrobots; motion control; path planning; robot dynamics; robot kinematics; surgery; S-curve motion planning; dynamical simulation; error analysis; kinematical simulation; medical robot; robot assistant microsurgery system; End effectors; Error analysis; Medical robotics; Motion analysis; Motion planning; Prototypes; Robot kinematics; Robotics and automation; Surgery; Surges; Robot Assistant Micro Surgery (RAMS) system; S-curve motion planning; medical robot;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on

Conference_Location

Dalian

Print_ISBN

1-4244-0332-4

Type

conf

DOI

10.1109/WCICA.2006.1713704

Filename

1713704