Safety Design of an Assisting Robotic Arm for Minimally Invasive Thoracic Surgery

被引:0
作者
Hu, Ying [1 ]
Zhang, Jun [1 ]
Li, Chao [1 ]
Cheng, Sheng [1 ]
Wang, Ludan [1 ]
Zhang, Jianwei [2 ]
机构
[1] Shenzhen Inst Adv Technol, Ctr Robot Engn, Cognit Technol Lab, Shenzhen, Guangdong, Peoples R China
[2] Univ Hamburg, TAMS, Hamburg, Germany
来源
2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, VOLS 1-4 | 2009年
关键词
Minimally invasive thoracic surgery; Assisting robotic arm; Self-gravity compensation;
D O I
暂无
中图分类号
TM [电工技术]; TN [电子技术、通信技术];
学科分类号
0808 ; 0809 ;
摘要
Based on the analysis of the first prototype of an Assisting Robotic Arm (ARA) for minimally invasive thoracic surgery, an improved design is presented. A self-gravity compensation mechanism is developed to resist joint torques caused by the weight of the robot and to reduce the force exerted on the end-effector by the surgeon. With a motor built into the arm, the design of the ball-socket-joint is modified to widen the surgeon's field of view. The current pedal brake is replaced with an operating pushbutton to avoid maloperation. A control system for the improved ARA is developed. The experimental results show that the workspace and the locking torque can satisfy the basic requirements of a surgery.
引用
收藏
页码:709 / +
页数:2
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