Title :
Concept design and dynamic modeling of a medical parallel manipulator to assist in cardiopulmonary resuscitation
Author :
Li, Yangmin ; Xu, Qingsong
Author_Institution :
Dept. of Electromech. Eng., Macau Univ., Taipa
Abstract :
The concept of a medical parallel manipulator applied to chest compressions in the process of cardiopulmonary resuscitation (CPR) is proposed in this paper. According to the requirements of CPR action from medical aspects, a 3-PRS (prismatic-revolute-spherical) parallel manipulator (PM) is designed utilizing an architectural optimization methodology for such kind of applications. The dynamic modeling is performed for the 3-PRS PM by the approach of Lagrangian formulation, and the simulation results verify the accuracy of the derived dynamic equations quantitatively. The research work provides a sound base for the development of a medical manipulator to assist in CPR operation
Keywords :
cardiovascular system; manipulator dynamics; medical robotics; Lagrangian formulation; architectural optimization methodology; cardiopulmonary resuscitation; chest compressions; dynamic equations; dynamic modeling; medical parallel manipulator; prismatic-revolute-spherical manipulators; Biomedical imaging; Blood; Cardiac arrest; Cardiology; Equations; Leg; Manipulator dynamics; Medical robotics; Medical simulation; Surgery;
Conference_Titel :
Electrical and Computer Engineering, 2005. Canadian Conference on
Conference_Location :
Saskatoon, Sask.
Print_ISBN :
0-7803-8885-2
DOI :
10.1109/CCECE.2005.1557060
