Title :
Design and kinematic analysis of A Pedicle Screws Surgical Robot
Author :
Jin, Haiyang ; Zhang, Peng ; Hu, Ying ; Zhang, Jianwei ; Zheng, Zhizeng
Author_Institution :
Shenzhen Institutes of Adv. Technol., Chinese Univ. of Hong Kong, Hong Kong, China
Abstract :
A Pedicle Screws Surgical Robot (PSSR) can reduce the risk of spinal surgery and improve surgical precision, which plays an important role in promoting the medical care level of spinal surgery. A new type of PSSR is proposed in this paper, and the mechanical structure and its working principle are also introduced. The kinematics model of the robot is derived from D-H notation in order to obtain the forward kinematics, inverse kinematics and workspace of the robot. A control and planning algorithm for the PSSR is carried out. This study can provide the basis for the development of PSSR prototype.
Keywords :
medical robotics; robot kinematics; surgery; PSSR; kinematic analysis; kinematics model; mechanical structure; medical care level; pedicle screws surgical robot; spinal surgery; Bones; Fasteners; Force; Kinematics; Robot kinematics; Surgery; kinematic; pedicle screws; pulling control arithmetic; spine surgical robot; workspace;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2010 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4244-9319-7
DOI :
10.1109/ROBIO.2010.5723528
