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Content Provider | IEEE Xplore Digital Library |
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Author | Yi Cao Xiujuan Li Weimin Ye Fabian, G. |
Copyright Year | 2006 |
Description | Author affiliation: Sch. of Electr. Eng., Henan Univ. of Technol., Zhengzhou (Yi Cao; Xiujuan Li; Weimin Ye) |
Abstract | The paper presents a novel mechanism of a surgical robot for lumbar stenosis, LSRobot. To optimize the mechanism of the robot arm, optimum design method based on multi-factor model, including maximum dexterity, workspace, joint limitation, and configuration orientation of joint variable (COJV), is proposed. The results are useful for the optimum design of the robot manipulator, and provided some helpful revelation to hatch other robots as well. Compared with other approaches, the optimal synthesis method considered more comprehensive and was more readily available. Preliminary experiments show that the proposed surgical robot can be operated with an acceptable degree of positional error |
Starting Page | 1898 |
Ending Page | 1902 |
File Size | 129163 |
Page Count | 5 |
File Format | |
ISBN | 1424404657 |
DOI | 10.1109/ICMA.2006.257543 |
Language | English |
Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Publisher Date | 2006-06-25 |
Publisher Place | China |
Access Restriction | Subscribed |
Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subject Keyword | Medical robotics Manipulators Robot kinematics Jacobian matrices Design methodology Irrigation Surgery Mechatronics Robotics and automation Paper technology Workspace Optimal synthesis Surgical robot Multi-factor model Dexterity |
Content Type | Text |
Resource Type | Article |
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