NDLI: Design of a combined passive and active joints robot assisting photodynamic therapy for port wine stains

Content Provider	IEEE Xplore Digital Library
Author	Honghua Zhao Xingguang Duan Yu Chen
Copyright Year	2011
Description	Author affiliation: Intelligent Robotics Institute, Beijing Institute of Technology, China (Xingguang Duan; Yu Chen) \|\| Department of Mechanical Engineering, University of Jinan, Shandong Province, China (Honghua Zhao)
Abstract	Port wine stain (PWS) birthmarks are congenital vascular malformations, which usually appear at birth. Vascular-targeted photodynamic therapy (PDT) is an effective approach in the treatment of PWS with laser. In clinical, the laser irradiation, which is operated by manual, can't be quantified and is not scientific. This paper presents a novel robotic system, which consists of a passive arm and an active wrist to assist doctors to exert PDT treatments. In clinics, compared to the fully actuated robot, the passive arm is more convenient and safer to operate; the two Degrees of Freedom (DOFs) active wrist can automate PDT under the guidance of binocular vision, so the doctors can focus more concentration on clinical judgments and treatments rather than do heavy manual work. This paper, first, introduced the mechanism of PWS and its treatments. Based on the prosperities of PDT, we designed the robotic system architecture, which consists of the medical robot, binocular vision and workstation. Then the detailed mechanical design on the robot with combined passive and active joints was given. Experimental results have showed that the robotic system could reduce much more workburden and realize more uniform radiation than manual work could.
Starting Page	519
Ending Page	523
File Size	1814859
Page Count	5
File Format	PDF
ISBN	9781612846989
e-ISBN	9781612847009
DOI	10.1109/WCICA.2011.5970568
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-21
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Medical treatment Lasers Joints Wrist Cancer photodynamic therapy medical robot passive joint port wine stain
Content Type	Text
Resource Type	Article

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Development and Experiments of a Robot Assisting Photodynamic Therapy for Port Wine Stains

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Mechanical design and control system of a robot assisting Photodynamic Therapy for Port Wine Stains

Treatment modes and clinical experiment of medical robot assisted photodynamic therapy of port wine stains

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