| Safety Design of an Assisting Robotic Arm for Minimally Invasive Thoracic Surgery | |
| Ying Hu; Jun Zhang; Chao Li; Sheng Cheng; Ludan Wang; Jianwei Zhang | |
| 2009 | |
| 会议名称 | 2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008 |
| 会议地点 | Shenzhen |
| 英文摘要 | 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 selfgravity 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. |
| 收录类别 | EI |
| 语种 | 英语 |
| 内容类型 | 会议论文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/2453]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2009 |
| 推荐引用方式 GB/T 7714 | Ying Hu,Jun Zhang,Chao Li,et al. Safety Design of an Assisting Robotic Arm for Minimally Invasive Thoracic Surgery[C]. 见:2008 IEEE International Conference on Robotics and Biomimetics, ROBIO 2008. Shenzhen. |
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