Abstract
Based on the configuration analysis of the minimally invasive surgical robot, a design scheme was presented in which the hollow-lined passive joint and a new kind of remote-center mechanism were adopted. On the basis of that, the mechanical designs of the passive joint and the remote-center mechanism were carried out, and the forward and inverse kinematics based on D-H notation was analyzed. Regarding the operability of the manipulator as the objective function, the dimensional parameters of the manipulator were optimized to improve the whole mechanical dexterity. At last, the mechanism designed was simulated. The results show that the mechanism designed has good stability and dexterity during the surgery, and the apparatus positioning performance is also desired. Consequently, the mechanism of the minimally invasive surgical robot designed meets the clinical requirements of the invasive surgeries very well.
| Original language | English |
|---|---|
| Pages (from-to) | 324-328 |
| Number of pages | 5 |
| Journal | Huazhong Keji Daxue Xuebao (Ziran Kexue Ban)/Journal of Huazhong University of Science and Technology (Natural Science Edition) |
| Volume | 41 |
| Issue number | SUPPL.I |
| State | Published - 2013 |
Keywords
- Dimensional optimization
- Manipulator
- Mechanical design
- Minimally invasive surgery
- Remote center mechanism
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