TY - GEN
T1 - Development of a Maxillofacial Multi-arm Surgery Robot
AU - Kong, Xiangzhan
AU - Duan, Xingguang
AU - Wang, Yonggui
PY - 2012
Y1 - 2012
N2 - As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Therefore, a Maxillofacial Multi-arm Surgery Robot System (MMSRS) was designed to assist surgeons in the operation, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the MMSRS was introduced. The mechanical structure and control system of the Maxillofacial Multi-arm Surgery Robot (MMSR) was designed. Forward kinematics and inverse kinematics of the robot were analyzed. Furthermore, considering its application particularity, safety design of the robot was mentioned accordingly. In addition, simulation and experiments were done to test the performance of robotic system. Experiments show that the robot works stably and accurately.
AB - As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Therefore, a Maxillofacial Multi-arm Surgery Robot System (MMSRS) was designed to assist surgeons in the operation, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the MMSRS was introduced. The mechanical structure and control system of the Maxillofacial Multi-arm Surgery Robot (MMSR) was designed. Forward kinematics and inverse kinematics of the robot were analyzed. Furthermore, considering its application particularity, safety design of the robot was mentioned accordingly. In addition, simulation and experiments were done to test the performance of robotic system. Experiments show that the robot works stably and accurately.
UR - https://www.scopus.com/pages/publications/84876491809
U2 - 10.1109/ROBIO.2012.6491031
DO - 10.1109/ROBIO.2012.6491031
M3 - Conference contribution
AN - SCOPUS:84876491809
SN - 9781467321273
T3 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
SP - 594
EP - 599
BT - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012 - Conference Digest
T2 - 2012 IEEE International Conference on Robotics and Biomimetics, ROBIO 2012
Y2 - 11 December 2012 through 14 December 2012
ER -