Mechanical design of a craniotomy robotic manipulator based on optimal kinematic and force performance

T. Essomba, C. T. Wu, S. T. Lee, C. H. Kuo

研究成果: 書貢獻/報告類型會議論文篇章同行評審

2 引文 斯高帕斯(Scopus)

摘要

The present paper introduces the mechanical design of a robotic manipulator for craniotomy application considering its kinematic and force transmission ability. The craniotomy is a surgical technique that allows the surgeon to access the patient’s brain by drilling and cutting the skull. The technical requirements of this application are explained. A dedicated mechanical architecture is proposed. This serial spherical arm is analysed in terms of kinematic and force transmission. An optimal mechanism is selected, designed and its actuator are selected to with respect to the identified performances. The global design of the manipulator is analysed and adjusted to reduce the structural deformation.

原文???core.languages.en_GB???
主出版物標題Robotics and Mechatronics - Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics
編輯Said Zeghloul, Med Amine Laribi, Jean-Pierre Gazeau
發行者Kluwer Academic Publishers
頁面191-198
頁數8
ISBN(列印)9783319223674
DOIs
出版狀態已出版 - 2016
事件4th IFToMM International Symposium on Robotics and Mechatronics, ISRM 2015 - Poitiers, France
持續時間: 23 6月 201525 6月 2015

出版系列

名字Mechanisms and Machine Science
37
ISSN(列印)2211-0984
ISSN(電子)2211-0992

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???event.eventtypes.event.conference???4th IFToMM International Symposium on Robotics and Mechatronics, ISRM 2015
國家/地區France
城市Poitiers
期間23/06/1525/06/15

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