A novel compliant surgical robot: Preliminary design analysis

被引：4
作者：
Kapsalyamov, Akim [1 ]
Hussain, Shahid [2 ]
Jamwal, Prashant K. [1 ]
机构：
[1] Nazarbayev Univ, Dept Elect & Comp Engn, Astana, Kazakhstan
[2] Univ Canberra, Fac Sci & Technol, Human Centred Technol Res Ctr, Canberra, ACT, Australia
来源：
MATHEMATICAL BIOSCIENCES AND ENGINEERING | 2020年 / 17卷 / 03期
关键词：
medical robots; minimally invasive surgery; laparoscopic camera; remote center of motion; pneumatic actuator; MOTION CONTROL; SURGERY; SYSTEM;
D O I：
10.3934/mbe.2020103
中图分类号：
Q [生物科学];
学科分类号：
07 ; 0710 ; 09 ;
摘要：
A robotic surgical system capable of performing minimally invasive surgery (MIS) is proposed in this paper. Based on the requirements of MIS, a compliant, seven- degrees of freedom (7-DOF) pneumatically actuated mechanism is designed. A remote center of motion (RCM) as a parallelogram mechanism for holding the laparoscopic camera is also developed. The operating workspace of robotic surgical system is determined considering the physical constraints imposed by mechanical joints. The simulation results show that the robotic system meets the design requirement. This research will lay a good foundation for the development of a compliant surgical robot to assist in MIS.
引用
收藏
页码：1944 / 1958
页数：15
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