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[189] Citation: Abstract
With a focus on design methodology for developing a compact
and lightweight minimally invasive surgery (MIS) robot manipulator,
the goal of this study is progress toward a next-generation surgical robot
system that will help surgeons deliver healthcare more effectively. Based on
an extensive database of in-vivo surgical measurements, the workspace requirements
were clearly defined. The pivot point constraint in MIS makes
the spherical manipulator a natural candidate. An experimental evaluation
process helped to more clearly understand the application and limitations
of the spherical mechanism as an MIS robot manipulator. The best configuration
consists of two serial manipulators in order to avoid collision
problems. A complete kinematic analysis and optimization incorporating
the requirements forMIS was performed to find the optimal link lengths of
the manipulator. The results show that for the serial spherical 2-link manipulator
used to guide the surgical tool, the optimal link lengths (angles)
are (60 , 50 ). A prototype 6-DOF surgical robot has been developed and
will be the subject of further study.
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Updated: Tue Jul 15 23:54:51 2008
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