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
收藏
页码：128 / 133
页数：6
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