Kinematic Analysis and Experimental Research on Parallel Cable-driven Puncture Surgery Robot

被引：0

作者：

Zou, Yupeng ^{[1
]}

Zhang, Yanxing ^{[1
]}

Zhou, Guangxu ^{[1
]}

Pan, Keyu ^{[1
]}

Zheng, Jieren ^{[1
]}

Wang, Mengfei ^{[1
]}

机构：

[1] China Univ Petr East China, Coll Mech & Elect Engn, Changjiang West Rd 66, Qingdao, Peoples R China

来源：

2024 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, ICMA 2024 | 2024年

关键词：

parallel cable-driven; puncture surgery robot; wrench-feasible workspace analysis;

D O I：

10.1109/ICMA61710.2024.10632945

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Aiming at the workspace requirements of clinical prostate puncture surgery, this paper deals with the design of a prostate puncture surgery robot based on parallel cable-driven. A parallel cable-driven mechanism is proposed to optimize the compactness of the end-surgical device. Then, to validate the accuracy of motion and the feasibility of the robot, which simulated and analyzed using the Multibody toolbox. Finally, a prototype is designed and experimentally evaluated to validate that the designed parallel cable-driven puncture surgery robot has well motion accuracy and stability in the workspace. In this paper, a puncture surgical robot is designed. Experiments show that the robot can meet the requirements of surgery and has good motion accuracy.

引用

页码：234 / 239

页数：6

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