Kinematics analysis for a hybrid robot in minimally invasive surgery | IEEE Conference Publication | IEEE Xplore

Kinematics analysis for a hybrid robot in minimally invasive surgery


Abstract:

This paper focuses on kinematics analysis for the 7-DOF (degree of freedom) hybrid robot in minimally invasive surgery. The serial structure of the hybrid robot has three...Show More

Abstract:

This paper focuses on kinematics analysis for the 7-DOF (degree of freedom) hybrid robot in minimally invasive surgery. The serial structure of the hybrid robot has three DOF; the parallel structure of the hybrid robot has four DOF. First, the traditional method `D-H method' is used to try to solve the kinematics of hybrid robot, but without success. Then a kinematics modeling method based on the ST (spinor theory) is presented. This method is named METM (multi-layer exponential transformation method). The process of solving the inverse displacements for all joints is analyzed. With this method, the joint displacements of 7-DOF hybrid robot are calculated. The METM method can be applicable for the kinematics of many hybrid robots, especially for redundant robots with more than six DOF.
Date of Conference: 19-23 December 2009
Date Added to IEEE Xplore: 25 February 2010
ISBN Information:
Conference Location: Guilin, China

I. Introduction

With rapid development of computer science and image disposure and robot technology, more and more applications for robots were designed in many areas such as military affairs, astronautics, industry, agriculture and medicine in last decades. In such areas, the medical robot technology is one of the most thriving and the fastest-developing research fields [1]. Surgical robots have been developed to assist surgeons in performing a wide range of procedures, such as laparoscopic surgery [2]–[4], prosthetic joint replacement surgery [5], [6], neurosurgery [7], and telesurgery[8], [9]. The health care system in the United States costs 16% of gross domestic product [10]. Medical robotic products are under current development in order to improve the quality of our health care system by: 1) inventing new diagnostic capabilities, 2) developing new therapies, and 3) creating technologies that improve the overall quality and cost effectiveness of our health care delivery system [11].

References

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