Robotic Hand-Held Surgical Device: Evaluation of End-Effector's Kinematics and Development of Proof-of-Concept Prototypes

Robotic Hand-Held Surgical Device: Evaluation of End-Effector's Kinematics and Development of Proof-of-Concept Prototypes
复制标题

机器人手持式手术设备：末端执行器运动学评估和概念验证原型开发

DOI：
10.1007/978-3-642-15711-0_54
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发表时间：
2010
期刊：
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
影响因子：
--
通讯作者：
G. Morel
G. Morel
中科院分区：
--
文献类型：
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作者：
A. Zahraee;J. Szewczyk;J. Paik;G. Morel

文献摘要

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我们正在致力于开发一种用于腹腔镜干预的机器人手持手术设备，以提高外科医生的灵活性。本文对末端执行器的运动学进行了研究。在评估活动中，使用虚拟现实模拟器比较了不同的运动学选择，以找到最优的运动学：偏航-摇摆(YR)运动学。在此基础上进行了原型系统的概念验证。
We are working towards the development of a robotic hand-held surgical device for laparoscopic interventions that enhances the surgeons' dexterity. In this paper, the kinematics of the end effector is studied. Different choices of kinematics are compared during an evaluation campaign using a virtual reality simulator to find the optimal one: the Yaw-Roll (YR) kinematics. A proof of concept prototype is made based on the results.