TY - GEN
T1 - Mechanical design and kinematic analysis of a medical robot assisted maxillofacial surgery
AU - Duan, Xingguang
AU - Wang, Yonggui
AU - Kong, Xiangzhan
AU - Li, Meng
AU - Yang, Yang
PY - 2013
Y1 - 2013
N2 - Since the intricate anatomical structure of the maxillofacial region and the limitation of surgical field and instrument, the current surgery is extremely high risk and difficult to implement. In contrast to traditional manual surgery, the paper introduces a multi-arm medical robot assisted the maxillofacial surgery using the optical navigation. The mechanical design was proposed gradually to satisfy the requirements of high precision, stability and safety in surgery, including the design of robot arm, wrist and the passive joint of the end-effector. In addition, the jacobian matrix with differential method and flexibility analysis based on condition number were displayed to describe the motion performance analysis of the medical robot. Finally the kinematic simulation with forward and inverse kinematics validates the stabile motion regarding displacement, velocity and acceleration, to express that it could be implied in clinic.
AB - Since the intricate anatomical structure of the maxillofacial region and the limitation of surgical field and instrument, the current surgery is extremely high risk and difficult to implement. In contrast to traditional manual surgery, the paper introduces a multi-arm medical robot assisted the maxillofacial surgery using the optical navigation. The mechanical design was proposed gradually to satisfy the requirements of high precision, stability and safety in surgery, including the design of robot arm, wrist and the passive joint of the end-effector. In addition, the jacobian matrix with differential method and flexibility analysis based on condition number were displayed to describe the motion performance analysis of the medical robot. Finally the kinematic simulation with forward and inverse kinematics validates the stabile motion regarding displacement, velocity and acceleration, to express that it could be implied in clinic.
KW - Kinematics Simulation
KW - Mechanical Design
KW - Medical Robot
KW - Motion Performance
UR - http://www.scopus.com/inward/record.url?scp=84881534998&partnerID=8YFLogxK
U2 - 10.1109/ICCME.2013.6548320
DO - 10.1109/ICCME.2013.6548320
M3 - Conference contribution
AN - SCOPUS:84881534998
SN - 9781467329699
T3 - 2013 ICME International Conference on Complex Medical Engineering, CME 2013
SP - 596
EP - 601
BT - 2013 ICME International Conference on Complex Medical Engineering, CME 2013
T2 - 2013 7th ICME International Conference on Complex Medical Engineering, CME 2013
Y2 - 25 May 2013 through 28 May 2013
ER -