DocumentCode
2196869
Title
Laparoscopic Robot Design and Kinematic Validation
Author
Fu, Yili ; Pan, Bo ; Li, Kang ; Wang, Shuguo
Author_Institution
Harbin Inst. of Technol., Harbin
fYear
2006
fDate
17-20 Dec. 2006
Firstpage
1426
Lastpage
1431
Abstract
This paper presents a new laparoscopic robot for helping surgeon in minimally invasive surgery. Its links and joints designed as individual components are easy detached and maintained. In order to demonstrate the robot suitability to develop the task it has been designed for, a validation has been performed. This validation consists of calculation of inverse kinematics and task dexterity distribution. Finally, simulation basing on the task dexterity distribution is carried out.
Keywords
medical robotics; robot kinematics; inverse kinematics; laparoscopic robot design; minimally invasive surgery; robot kinematic validation; robot suitability; task dexterity distribution; Abdomen; Anatomical structure; Biomimetics; Laparoscopes; Medical robotics; Minimally invasive surgery; Pathology; Robot kinematics; Surges; Surgical instruments; Dexterity analysis; Kinematic design; Laparoscopic robot; Minimally invasive techniques;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location
Kunming
Print_ISBN
1-4244-0570-X
Electronic_ISBN
1-4244-0571-8
Type
conf
DOI
10.1109/ROBIO.2006.340138
Filename
4142075
Link To Document