KINEMATIC ANALYSES OF A NEW MEDICAL ROBOT FOR 3D VASCULAR ULTRASOUND EXAMINATION

被引：3

作者：

Zhao, Longfei ^{[1
]}

Yen, Andy Kar Wah ^{[1
]}

Coulombe, Jonathan ^{[1
]}

Bigras, Pascal ^{[1
]}

Bonev, Ilian A. ^{[1
]}

机构：

[1] Ecole Technol Super, Montreal, PQ, Canada

来源：

TRANSACTIONS OF THE CANADIAN SOCIETY FOR MECHANICAL ENGINEERING | 2014年 / 38卷 / 02期

关键词：

serial-parallel robot; medical robot; kinematics; TELE-ECHOGRAPHY; SYSTEM;

D O I：

10.1139/tcsme-2014-0016

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

Peripheral artery disease (PAD) is a common vascular disease which can have serious consequences for older people. Owing to the complexity of the vessels in the lower limbs, current PAD medical robots are not desirable to diagnose PAD in this area. The kinematic model of a novel six-axis serial-parallel robot for 3D vascular ultrasound examination of the lower limbs is presented in this paper. The prototype of the robot is described, and then the direct and inverse kinematic problems are solved in closed form.

引用

页码：227 / 239

页数：13

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