Experiences on the Design of a Needle Insertion Surgery Robot: Kinematic Analysis

Abstract:

In this work is presented the evolution of the concept of a needle insertion surgery robot. Five different prototypes were proposed, keeping the core concept of decoupling kinematics, and passing from a passive device to an autonomous robot. The kinematics of the mechanisms are presented. The different configurations for the inverse kinematics are introduced. The workspace of the final prototype is analyzed.

Año de publicación:

2017

Keywords:

• Revolute Joint
• Prismatic Joint
• Kinematic chain
• Serial Mechanism
• Inverse Kinematic Solution

Fuente:

scopus