TY - GEN
T1 - Reconfigurable cable-driven parallel robot with adjustable workspace towards positioning in neurosurgery
T2 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
AU - Li, Changsheng
AU - Huang, Jingchen
AU - Su, Mengya
AU - Wu, Diao
AU - Xu, Peng
AU - Xie, Yushan
AU - Meng, Fansheng
AU - Wen, Hao
AU - Tian, Huanyu
AU - Duan, Xingguang
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/7/15
Y1 - 2021/7/15
N2 - There still exist limitations in current robotic system for positioning in neurosurgery, such as bulky size and complex mechanism. To address this issue, a novel reconfigurable cable-driven parallel robot with adjustable workspace is proposed. This robot is composed of three rods and six cables with guiding tubes to achieve four degrees of freedom (DOFs). The reduced inertia/weight of the terminal and disturbance of the workspace are achieved, which are beneficial for surgeons to operate dexterously. The rods as frame can be freely fixed on the skull based on the surgical requirements. The workspace is adjustable according to the configuration of the frame. In this paper, the design of the robot is presented, including the mechanical design, the kinematics, the workspace, and the operation procedure. The simulation in Adams software is conducted to evaluation the performance of the robot. A simplified prototype is designed and fabricated to demonstrate the configuration of the robot.
AB - There still exist limitations in current robotic system for positioning in neurosurgery, such as bulky size and complex mechanism. To address this issue, a novel reconfigurable cable-driven parallel robot with adjustable workspace is proposed. This robot is composed of three rods and six cables with guiding tubes to achieve four degrees of freedom (DOFs). The reduced inertia/weight of the terminal and disturbance of the workspace are achieved, which are beneficial for surgeons to operate dexterously. The rods as frame can be freely fixed on the skull based on the surgical requirements. The workspace is adjustable according to the configuration of the frame. In this paper, the design of the robot is presented, including the mechanical design, the kinematics, the workspace, and the operation procedure. The simulation in Adams software is conducted to evaluation the performance of the robot. A simplified prototype is designed and fabricated to demonstrate the configuration of the robot.
UR - http://www.scopus.com/inward/record.url?scp=85115355038&partnerID=8YFLogxK
U2 - 10.1109/RCAR52367.2021.9517400
DO - 10.1109/RCAR52367.2021.9517400
M3 - Conference contribution
AN - SCOPUS:85115355038
T3 - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
SP - 51
EP - 56
BT - 2021 IEEE International Conference on Real-Time Computing and Robotics, RCAR 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 15 July 2021 through 19 July 2021
ER -