Laparoscopic robot design and kinematic validation

被引:4
作者
Fu, Yili [1 ]
Pan, Bo [1 ]
Li, Kang [1 ]
Wang, Shuguo [1 ]
机构
[1] Harbin Inst Technol, Inst Robot, Harbin, Heilongjiang Pr, Peoples R China
来源
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-3 | 2006年
关键词
minimally invasive techniques; laparoscopic robot; kinematic design; dexterity analysis;
D O I
10.1109/ROBIO.2006.340138
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
This paper presents a new laparoscopic robot for helping surgeon in minimally invasive surgery. Its links and joints designed as individual components are easy detached and maintained. In order to demonstrate the robot suitability to develop the task it has been designed for, a validation has been performed. This validation consists of calculation of inverse kinematics and task dexterity distribution. Finally, simulation basing on the task dexterity distribution is carried out.
引用
收藏
页码:1426 / +
页数:2
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