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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Ying Hu Jun Zhang Chao Li Sheng Cheng Ludan Wang Jianwei Zhang |
| Copyright Year | 2009 |
| Description | Author affiliation: TAMS, University of Hamburg, Germany (Jianwei Zhang) || Center for Robot Engineering and Cognitive Technologies Lab, Shenzhen Institute of Advanced Technology, Guangdong, China (Ying Hu; Jun Zhang; Chao Li; Sheng Cheng; Ludan Wang) |
| Abstract | Based on the analysis of the first prototype of an Assisting Robotic Arm (ARA) for minimally invasive thoracic surgery, an improved design is presented. A self-gravity compensation mechanism is developed to resist joint torques caused by the weight of the robot and to reduce the force exerted on the end-effector by the surgeon. With a motor built into the arm, the design of the ball-socket-joint is modified to widen the surgeon's field of view. The current pedal brake is replaced with an operating pushbutton to avoid maloperation. A control system for the improved ARA is developed. The experimental results show that the workspace and the locking torque can satisfy the basic requirements of a surgery. |
| Starting Page | 709 |
| Ending Page | 714 |
| File Size | 494731 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424426782 |
| DOI | 10.1109/ROBIO.2009.4913088 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2009-02-22 |
| Publisher Place | Thailand |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Minimally invasive surgery Safety Robots Surges Medical robotics Oncological surgery Cognitive robotics Orbital robotics Viscera Chaos Self-gravity compensation Minimally invasive thoracic surgery Assisting robotic arm |
| Content Type | Text |
| Resource Type | Article |
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