Title :
Design and simulation of a single-port surgical system on multi DoF instruments
Author :
Geon Won ; Jung-Hoon Hwang ; Chang-Woo Park
Author_Institution :
Intell. Robot. Res. Center, Korea Electron. Technol. Inst., Seoul, South Korea
Abstract :
A single port surgery has merits as small scar and little physical burden of subject while it has narrow workspace and small range of operations because of the mechanical limits of the instruments. In order to enlarge the application range of single port surgery, it is important to increase the stiffness and the force of the instruments. This paper presents the design and simulation of a single-port surgical system with multi DoF instruments.
Keywords :
biomedical equipment; medical robotics; surgery; multiDoF instruments; narrow workspace; single-port surgical system; stiffness; Equations; Instruments; Joints; Kinematics; Robots; Surgery; Wires; DLS inverse; Inverse Kinematics; Robot Simulation; Surgery instrument;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2014 11th International Conference on
DOI :
10.1109/URAI.2014.7057450
