| Medical Assistance Robot Design for Liver Tumor | |
| Xie Xiaohui; Na Qi; Du Ruxu; Yu Xiaofang; Zhang Yue; Zhuang Zehong | |
| 2011 | |
| 会议名称 | 2011 International Conference in Electrics, Communication and Automatic Control Proceedings |
| 英文摘要 | According to the characters of the liver interventional surgery, a medical assistance robot with five degrees of freedom (5 DOF) is introduced in this chapter. Based on the principles of robot kinematics using the Denavit-Hartenberg (D-H) method, the forward kinematics and the inverse kinematics of the designed robot for the medical services are proposed. By analyzing the workspace of the robot and calculating the Jacobian matrix of it, it can be concluded that the robot is effective for the designed requirement. |
| 收录类别 | 其他 |
| 语种 | 英语 |
| 内容类型 | 会议论文 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/3302]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2011 |
| 推荐引用方式 GB/T 7714 | Xie Xiaohui,Na Qi,Du Ruxu,et al. Medical Assistance Robot Design for Liver Tumor[C]. 见:2011 International Conference in Electrics, Communication and Automatic Control Proceedings. |
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