Title :
Laparoscopic Robot Design and Kinematic Validation
Author :
Fu, Yili ; Pan, Bo ; Li, Kang ; Wang, Shuguo
Author_Institution :
Harbin Inst. of Technol., Harbin
Abstract :
This paper presents a new laparoscopic robot for helping surgeon in minimally invasive surgery. Its links and joints designed as individual components are easy detached and maintained. In order to demonstrate the robot suitability to develop the task it has been designed for, a validation has been performed. This validation consists of calculation of inverse kinematics and task dexterity distribution. Finally, simulation basing on the task dexterity distribution is carried out.
Keywords :
medical robotics; robot kinematics; inverse kinematics; laparoscopic robot design; minimally invasive surgery; robot kinematic validation; robot suitability; task dexterity distribution; Abdomen; Anatomical structure; Biomimetics; Laparoscopes; Medical robotics; Minimally invasive surgery; Pathology; Robot kinematics; Surges; Surgical instruments; Dexterity analysis; Kinematic design; Laparoscopic robot; Minimally invasive techniques;
Conference_Titel :
Robotics and Biomimetics, 2006. ROBIO '06. IEEE International Conference on
Conference_Location :
Kunming
Print_ISBN :
1-4244-0570-X
Electronic_ISBN :
1-4244-0571-8
DOI :
10.1109/ROBIO.2006.340138
