Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System

Lixing Jin; Xingguang Duan; Yonggui Wang; Huanyu Tian; Hao Wen

doi:10.1109/ARSO46408.2019.8948812

Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System

Lixing Jin^*, Xingguang Duan, Yonggui Wang, Huanyu Tian, Hao Wen

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

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.

Original language	English
Title of host publication	2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Publisher	IEEE Computer Society
Pages	128-133
Number of pages	6
ISBN (Electronic)	9781728131764
DOIs	https://doi.org/10.1109/ARSO46408.2019.8948812
Publication status	Published - Oct 2019
Event	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, China Duration: 31 Oct 2019 → 2 Nov 2019

Publication series

Name	Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Volume	2019-October
ISSN (Print)	2162-7568
ISSN (Electronic)	2162-7576

Conference

Conference	15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Country/Territory	China
City	Beijing
Period	31/10/19 → 2/11/19

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10.1109/ARSO46408.2019.8948812

Cite this

Jin, L., Duan, X., Wang, Y., Tian, H., & Wen, H. (2019). Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 (pp. 128-133). Article 8948812 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October). IEEE Computer Society. https://doi.org/10.1109/ARSO46408.2019.8948812

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title = "Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System",

abstract = "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.",

author = "Lixing Jin and Xingguang Duan and Yonggui Wang and Huanyu Tian and Hao Wen",

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year = "2019",

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doi = "10.1109/ARSO46408.2019.8948812",

language = "English",

series = "Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO",

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Jin, L, Duan, X, Wang, Y, Tian, H & Wen, H 2019, Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System. in 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019., 8948812, Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO, vol. 2019-October, IEEE Computer Society, pp. 128-133, 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019, Beijing, China, 31/10/19. https://doi.org/10.1109/ARSO46408.2019.8948812

Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System. / Jin, Lixing; Duan, Xingguang; Wang, Yonggui et al.
2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society, 2019. p. 128-133 8948812 (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO; Vol. 2019-October).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System

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AU - Duan, Xingguang

AU - Wang, Yonggui

AU - Tian, Huanyu

AU - Wen, Hao

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.

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BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019

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Jin L, Duan X, Wang Y, Tian H, Wen H. Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System. In 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019. IEEE Computer Society. 2019. p. 128-133. 8948812. (Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO). doi: 10.1109/ARSO46408.2019.8948812

Design and Kinematic Analysis of a Robotics Maxillofacial Surgery System

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