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- Title
DESIGN AND EXPERIMENTS OF A CRANIO-MAXILLOFACIAL PUNCTURING ROBOT.
- Authors
CHANGLE LI; GANGFENG LIU; GE LI; XUEHE ZHANG; XIANFU YU; JIE ZHAO; LIYI LI
- Abstract
In order to solve the difficulties in the cranio-maxillofacial surgery, such as tumor locating, manual puncturing errors, and the high risk, this paper puts forward a cranio-maxillofacial puncturing robot. Based on the modular thought and security concept, each module of the robot is integrated with mechanical structure, driving circuit, control and communication circuit. The series of units are of complete and independent function, high reliability, strong versatility, easy cleaning, and clinical use suitability. In this paper, the forward kinematics and inverse kinematics of the robot are derived through rapid analytical method, the working space is simulated, and the Jacobian matrix of the puncturing force is given. All these measures are taken as a foundation for safe control of the robot. Also a human-computer platform was developed for the interaction between doctors and the robot. Combined with trajectory planning and kinematics analysis, motion control of the robot was realized. Finally, simulation experiments were carried out to verify the reliability and accuracy of the robot.
- Subjects
MAXILLOFACIAL surgery; SURGICAL robots; ROBOTICS research; AUTOMATION; COMPUTER simulation
- Publication
Journal of the Balkan Tribological Association, 2016, Vol 22, Issue 4-III, p4814
- ISSN
1310-4772
- Publication type
Article