TY - GEN
T1 - Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System
AU - Jin, Lixing
AU - Duan, Xingguang
AU - Wang, Yonggui
AU - Tian, Huanyu
AU - Wen, Hao
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Due to the complex anatomical structure in the skull base and lateral deep facial region, it is difficult to avoid important organizations and easy to cause many postoperative complications in the current surgery. In this paper, a master-slave surgical robot system was designed to solve the problem. The slave manipulator with 5 DOF was proposed, which has a universal interface to mount three kinds of puncture surgical end effectors. Finally, the dexterity calculation and kinematic simulation analysis based on the condition number of the Jacobian matrix were calculated, and the result indicates that this robot has stable motion performance and can meet the demands of puncture surgery.
AB - Due to the complex anatomical structure in the skull base and lateral deep facial region, it is difficult to avoid important organizations and easy to cause many postoperative complications in the current surgery. In this paper, a master-slave surgical robot system was designed to solve the problem. The slave manipulator with 5 DOF was proposed, which has a universal interface to mount three kinds of puncture surgical end effectors. Finally, the dexterity calculation and kinematic simulation analysis based on the condition number of the Jacobian matrix were calculated, and the result indicates that this robot has stable motion performance and can meet the demands of puncture surgery.
UR - http://www.scopus.com/inward/record.url?scp=85078343642&partnerID=8YFLogxK
U2 - 10.1109/ARSO46408.2019.8948812
DO - 10.1109/ARSO46408.2019.8948812
M3 - Conference contribution
AN - SCOPUS:85078343642
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 128
EP - 133
BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Y2 - 31 October 2019 through 2 November 2019
ER -