A New Robot for High Dexterity Microsurgery
A New Robot for High Dexterity Microsurgery
复制标题
一种用于高灵活性显微外科手术的新型机器人
DOI：
10.1007/978-3-540-49197-2_13
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发表时间：
1995
期刊：
影响因子：
--
通讯作者：
T. Ohm
中科院分区：
文献类型：
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作者：
P. Schenker;H. Nayar;T. Ohm
我们报道了一种新的六自由度(d.o.f.)操纵者。这种机器人和它的任务空间控制使相对尖端定位在超过20立方厘米的无奇点工作量上优于25微米。凭借创新的电缆驱动设计，该机器人在五个关节中没有间隙，可以承受超过3磅的全负荷。该机器人既适用于显微外科手术工具的精细运动操作，也适用于灵巧地操纵用于微创手术的较大功率设备。我们目前的开发重点是用于增强灵活性的显微手术的远程操作系统；我们相信，新的机器人也将在计算机辅助手术中有有用的应用，例如图像引导治疗。在这篇简短的论文中，我们概述了机器人的机械设计、控制实施和初步评估。我们随附的口头演示包括一盘5分钟的录像带，展示了迄今为止取得的工程实验室成果。
We report the development of a new six degree-of-freedom (d.o.f.) manipulator. This robot and its task-space controls enable relative tip positioning to better than 25 microns over a singularity-free work volume exceeding 20 cubic centimeters. By virtue of an innovative cable drive design, the robot has zero backlash in five joints and can sustain full extent loads of over three pounds. The robot is applicable to both fine motion manipulation of microsurgical tools and also dexterous handling of larger powered devices for minimally invasive surgery. Our current development emphasis is a teleoperated system for dexterity-enhanced microsurgeries; we believe the new robot will also have useful applications in computer assisted surgeries, e.g. image-guided therapies. In this brief paper, we outline the robot mechanical design, controls implementation, and preliminary evaluations. Our accompanying oral presentation includes a five minute videotape that illustrates engineering laboratory results achieved to date.