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Design of a 4 DOF laparoscopic surgery robot for manipulation of large organs

Alamdar, A ; Sharif University of Technology | 2012

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  1. Type of Document: Article
  2. DOI: 10.3233/978-1-61499-022-2-8
  3. Publisher: 2012
  4. Abstract:
  5. In this paper, a 4-DOF robotic arm for tool handling in laparoscopic surgery is introduced. The robot provides sufficient force to handle endoscopic tools used for large organ manipulation and is capable of measuring the tool-tissue forces. The RCM constraint is achieved using a spherical mechanism and roll and insertion motions are provided using time pulley and spindle-drive, respectively. The forward and inverse kinematics of the robot was solved and the dimensions of its links were determined, using particle swarm optimization method, so that the maximum kinematic and dynamic performance could be achieved
  6. Keywords:
  7. Particle swarm optimization ; Robotic surgery ; Spherical mechanism ; Computer assisted surgery ; Instrumentation ; Methodology ; Physiology ; Young modulus ; Elastic Modulus ; Equipment Design ; Laparotomy ; Motion ; Robotics ; Surgery, Computer-Assisted
  8. Source: Studies in Health Technology and Informatics ; Volume 173 , 2012 , Pages 8-12 ; 09269630 (ISSN) ; 9781614990215 (ISBN)
  9. URL: http://ebooks.iospress.nl/publication/21253