@inproceedings{0a22d27921a446d4bdf6e0b472a61b51,
title = "Kinematics analysis and trajectory planning of a multiarm medical robot assisted maxillofacial surgery",
abstract = "As the complex anatomical structure of the maxillofacial region, the surgery in this area is high risk and difficult to implement. Then, a multi-arm medical robot assisted maxillofacial surgery using optical navigation was proposed in this paper, which can improve surgical precision and make the doctors away from the heavy manual work. In this paper, the medical robot system and mechanical structure of the robot were introduced. Forward kinematics and inverse kinematics were analysed. Then trajectory planning using quintic polynomial interpolation for smoothly motion was adopted, and rectilinear motion in Cartesian space was adopted. The kinematics was validated and the workspace of the robot was calculated by simulations. Finally, the robot model was established and an experiment was carried out which proved the robot run smoothly and positioned accurately.",
keywords = "Kinematics, Maxillofacial Surgery, Multi-arm Robot, Trajectory Planning",
author = "Chao Chen and Duan, {Xing Guang} and Wang, {Xing Tao} and Zhu, {Xiang Yu} and Meng Li",
year = "2012",
doi = "10.1109/ICCME.2012.6275638",
language = "English",
isbn = "9781467316163",
series = "2012 ICME International Conference on Complex Medical Engineering, CME 2012 Proceedings",
publisher = "IEEE Computer Society",
pages = "229--234",
booktitle = "2012 ICME International Conference on Complex Medical Engineering, CME 2012 Proceedings",
address = "United States",
note = "6th International Conference on Complex Medical Engineering, CME 2012 ; Conference date: 01-07-2012 Through 04-07-2012",
}