Title :
The Design and Dinematic Analysis of MIS
Author :
Fengling Shang ; Longwang Yue ; Yong Tian ; Wei Yue
Author_Institution :
Henan Univ. of Technol. Mech. & Electr. Eng., Zhengzhou, China
Abstract :
In order to address the clinical minimally invasive surgical suture formed to fight the problem of low power, according to the new Theory of robotic knot-"twisting knot tying", designed for MIS robot system of suture knot. The system can realize the \´pointing\´ (minimally invasive) movement, so as to ensure the safety of operation. On the basis of the analysis in the kinematics, inverse kinematics, using Monte Carlo method for analysis of working space of the system, the structural parameters obtained to meet the clinical requirements of MIS robot system.
Keywords :
Monte Carlo methods; dexterous manipulators; manipulator kinematics; medical robotics; surgery; MIS robot system; Monte Carlo method; clinical requirement; invasive surgical suture; inverse kinematics; robotic knot; structural parameter; suture knot; twisting knot tying; Endoscopes; Kinematics; MATLAB; Minimally invasive surgery; Service robots; "twisting knot tying"; MIS robot system; kinematics; structural design;
Conference_Titel :
Electrical and Control Engineering (ICECE), 2010 International Conference on
Conference_Location :
Wuhan
Print_ISBN :
978-1-4244-6880-5
DOI :
10.1109/iCECE.2010.567
