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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Jianmin Li Shuxin Wang Xiaofei Wang Chao He Lin'an Zhang |
| Copyright Year | 2010 |
| Description | Author affiliation: School of Mechanical Engineering, Tianjin University, China (Jianmin Li; Shuxin Wang; Xiaofei Wang; Chao He; Lin'an Zhang) |
| Abstract | Minimally invasive surgery (MIS) has many advantages compared with the open surgery, but there are still many drawbacks in performing this kind of surgery. To overcome the problems, robotic technologies have been integrated. The surgical robotic systems can enhance the dexterity, provide high accuracy, do not affect by the fatigue, and have the possibility of remote operation. These advantages make the difficult procedures feasible. In order to increase the diversity of the MIS robots, a novel mechanism for MIS is proposed in this paper. The robot satisfies the incision point constraints of the MIS via the special designed mechanism, and it is expected to improve the performance in some aspects of the commercial robots. The simulation and experiments results show that the robot can increase the dexterity and can satisfy force requirements in MIS. |
| Starting Page | 1370 |
| Ending Page | 1375 |
| File Size | 768177 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424493197 |
| e-ISBN | 9781424493180 |
| DOI | 10.1109/ROBIO.2010.5723529 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-12-14 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Joints Robot kinematics Surgery Instruments Kinematics Collision avoidance |
| Content Type | Text |
| Resource Type | Article |
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