Title :
Development of the multifunctional end-effector for interventional surgery robot
Author :
Kim, Kyung Rok ; Song, H.S. ; Yim, H.S. ; Jung, S.H.
Author_Institution :
Dept. of Med. Syst. Res., Hyundai Heavy Ind. Co., Ltd., Yongin, South Korea
Abstract :
The end effector working at the end of robot wrist was newly designed to meet the needs of interventional surgery. The end effector has a compact size to be used in the small workspace restricted by the CT bore. Also, radioparent material was applied to the gripper for a better image acquisition. The end effector has the functions of needle insertion, rotation and hold/release for the effective operation.
Keywords :
end effectors; grippers; medical robotics; surgery; CT bore; gripper; image acquisition; interventional surgery robot; multifunctional end effector; needle insertion; radioparent material; robot wrist; AC motors; Biopsy; Computed tomography; DC motors; Gears; Power supplies; Servomotors; end effector; interventional surgery; robot;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2013 13th International Conference on
Conference_Location :
Gwangju
Print_ISBN :
978-89-93215-05-2
DOI :
10.1109/ICCAS.2013.6703868
