Title :
Kinematic analysis of a novel 3-DoF manipulator for a laparoscopic surgery robot
Author :
Wang, Xiaofei ; Wang, Shuxin ; Li, Jianmin ; He, Chao
Author_Institution :
Dept. of Mech. Eng., Tianjin Univ., Tianjin, China
Abstract :
The kinematic model of a novel 3-DoF manipulator for laparoscopic surgery robot is developed in this paper. The kinematics of the manipulator is analyzed using screw theory and product-of-exponentials formula. The direct kinematic problem and inverse kinematic problem of the manipulator are analyzed according to surgery application. Isotropy is obtained based on Jacobian matrix. Analytical expressions are presented and the results are in good agreement with simulation and experiment.
Keywords :
Jacobian matrices; kinematics; manipulators; medical robotics; surgery; Jacobian matrix; direct kinematic problem; inverse kinematic problem; isotropy; kinematic analysis; laparoscopic surgery robot; novel 3-DoF manipulator; product-of-exponentials formula; screw theory; Jacobian matrices; Kinematic; Laparoscopic surgery; POE; Screw theory;
Conference_Titel :
Complex Medical Engineering (CME), 2011 IEEE/ICME International Conference on
Conference_Location :
Harbin Heilongjiang
Print_ISBN :
978-1-4244-9323-4
DOI :
10.1109/ICCME.2011.5876767
