提高腹腔镜手术灵活性的模块化高效机械臂设计

J. Lowery, C. Nelson
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引用次数: 2

摘要

本文概述了一种可重构的,部分一次性的,肌腱驱动的机械臂的设计,为腹腔镜手术提供帮助。提供了其开发和设计目标的基本原理,然后描述了其机械设计。提出了评估工作空间的运动学模拟,并使用自定义测试台对原型的功能进行了第一阶段的评估。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery
This paper outlines the design of a reconfigurable, partially disposable, tendon-driven robotic arm for providing assistance in laparoscopic surgery. The rationale for its development and design objectives are provided, followed by a description of its mechanical design. Kinematic simulations to assess workspace are presented, and a first-stage assessment of the functionality of a prototype using a custom test bench is also included.
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