Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System

被引：0

作者：

Jin, Lixing ^{[1
]}

Duan, Xingguang ^{[1
]}

Wang, Yonggui ^{[1
]}

Tian, Huanyu ^{[1
]}

Wen, Hao ^{[1
]}

机构：

[1] BIT, Beijing, Peoples R China

来源：

2019 IEEE INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO) | 2019年

基金：

国家重点研发计划;

关键词：

D O I：

10.1109/arso46408.2019.8948812

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Due to the complex anatomical structure in the skull base and lateral deep facial region, it is difficult to avoid important organizations and easy to cause many postoperative complications in the current surgery. In this paper, a master-slave surgical robot system was designed to solve the problem. The slave manipulator with 5 DOF was proposed, which has a universal interface to mount three kinds of puncture surgical end effectors. Finally, the dexterity calculation and kinematic simulation analysis based on the condition number of the Jacobian matrix were calculated, and the result indicates that this robot has stable motion performance and can meet the demands of puncture surgery.

引用

页码：128 / 133

页数：6

共 50 条

[1] Mechanical Design and Kinematic Analysis of a Medical Robot Assisted Maxillofacial Surgery
Duan, Xingguang
Wang, Yonggui
Kong, Xiangzhan
Li, Meng
Yang, Yang
2013 ICME INTERNATIONAL CONFERENCE ON COMPLEX MEDICAL ENGINEERING (CME), 2013, : 596 - 601
[2] Robotics in oral and maxillofacial surgery
Borumandi, F.
Cascarini, L.
ANNALS OF THE ROYAL COLLEGE OF SURGEONS OF ENGLAND, 2018, 100 (06) : 19 - 22
[3] Robotics and Oral-Maxillofacial Surgery
Hupp, James R.
JOURNAL OF ORAL AND MAXILLOFACIAL SURGERY, 2020, 78 (04) : 493 - 495
[4] Robotics Toolbox for Kinematic Analysis and Design of Hybrid Multibody Systems
Ozakyol, Haluk
Karaman, Cenk
Bingul, Zafer
2017 18TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR), 2017, : 401 - 406
[5] Design and Kinematic Analysis of a Hybrid Manipulator for Spine Surgery
Peng, Yi
Yu, Hongjian
Du, Zhijiang
2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, 2016, : 884 - 889
[6] ROBOTICS KINEMATIC ANALYSIS APPLIED TO ASTRONOMICAL TELESCOPES
ALI, BF
ROBOTS 13: CONFERENCE PROCEEDINGS, 1989, : P13 - P26
[7] Experiences on the Design of a Needle Insertion Surgery Robot: Kinematic Analysis
Puglisi, Lisandro J.
Saltaren Pazmino, Roque
Rey Portoles, German
Garcia Cena, Cecilia E.
Aracil Santonja, Rafael
ADVANCES IN AUTOMATION AND ROBOTICS RESEARCH IN LATIN AMERICA, 2017, 13 : 36 - 47
[8] Kinematic Analysis and Optimization Design of Vehicle Suspension System
Men, Yuzhuo
Yu, Haibo
SUSTAINABLE DEVELOPMENT OF NATURAL RESOURCES, PTS 1-3, 2013, 616-618 : 2001 - 2004
[9] System design and kinematic analysis to motion control for RPRS
Wang, Minghui
Ma, Shugen
Li, Bin
Wang, Yuechao
Zhang, Liping
WCICA 2006: SIXTH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION, VOLS 1-12, CONFERENCE PROCEEDINGS, 2006, : 178 - 178
[10] A surgical robotic system for maxillofacial surgery
Burghart, C
Hassfeld, S
Raczkowsky, J
Worn, H
Rembold, U
CAR '98 - COMPUTER ASSISTED RADIOLOGY AND SURGERY, 1998, 1165 : 569 - 574

← 1 2 3 4 5 →