Design of a compact 5-DOF surgical robot of a spherical mechanism: CURES

Author

Kim, Sung-Kyun ; Shin, Won-Ho ; Ko, Seong-Young ; Kim, Jonathan ; Kwon, Dong-Soo

Author_Institution

Dept. of Mech. Eng., KAIST, Daejeon

fYear

2008

fDate

2-5 July 2008

Firstpage

990

Lastpage

995

Abstract

In recent years, several surgical or assistant robots have made a successful debut to surgical theatre. Due to their large size, and high price, there is a growing need for the miniaturization of these surgical robots. In this paper, a design methodology for a compact surgical robot is presented. Considering workspace and force requirements, a simulation and experiments are conducted to determine the design parameters. The compact surgical robot CURES of 5-DOF spherical mechanism is developed from the analysis and its properties are presented.

Keywords

control system analysis; control system synthesis; medical robotics; surgery; CURES; assistant robots; compact 5-DOF surgical robot; spherical mechanism; workspace requirements; Costs; Feedback; Grasping; Intelligent robots; Laboratories; Medical robotics; Medical simulation; Minimally invasive surgery; Surges; Surgical instruments; Compact design; dynamics simulation; laparoscopic surgical robot; workspace/force requirements;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on

Conference_Location

Xian

Print_ISBN

978-1-4244-2494-8

Electronic_ISBN

978-1-4244-2495-5

Type

conf

DOI

10.1109/AIM.2008.4601796

Filename

4601796