Mechanical Design and Control System of a Minimally Invasive Surgical Robot System

2006 ◽  
Author(s):  
Qinjun Du ◽  
Qiang Huang ◽  
Libo Tian ◽  
Chuncheng Liu
Keyword(s):  
Control System ◽  
Minimally Invasive ◽  
Mechanical Design ◽  
Surgical Robot ◽  
Robot System ◽  
Minimally Invasive Surgical ◽  
And Control

Mechanical Design and Control Method of a Hollow Modular Joint for Minimally Invasive Spinal Surgery

2018 ◽  
Vol 15 (04) ◽  
pp. 1850017
Author(s):  
Guoli Song ◽  
Che Hou ◽  
Yiwen Zhao ◽  
Xingang Zhao ◽  
Jianda Han
Keyword(s):  
Minimally Invasive ◽  
Spinal Surgery ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Control Design ◽  
Torque Sensor ◽  
Minimally Invasive Spinal Surgery ◽  
Minimally Invasive Surgical ◽  
And Control

Design of the hollow modular joint plays an important role in modern robot layout, fixation, and wiring. In this paper, a hollow modular joint that meets the requirement of a minimally invasive surgical robot is proposed. The mechanical and control design is sequentially illustrated, and the torque sensor and its optimization are provided. Furthermore, a free-force control method is introduced. To analyze the designed module, the simulation of the redundant robot, comprised of the designed joint in seven degrees of freedom, is presented. The results of analyses showed that the designed hollow modular joint is valid and effective.

scholarly journals Dimensional optimization of a minimally invasive surgical robot system based on NSGA-II algorithm

2015 ◽  
Vol 7 (2) ◽  
pp. 168781401456854 ◽  
Author(s):  
Wei Wang ◽  
Weidong Wang ◽  
Wei Dong ◽  
Hongjian Yu ◽  
Zhiyuan Yan ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Surgical Robot ◽  
Robot System ◽  
Nsga Ii ◽  
Minimally Invasive Surgical ◽  
Dimensional Optimization

The first clinical use of domestically produced Chinese minimally invasive surgical robot system “Micro Hand S”

2015 ◽  
Vol 30 (6) ◽  
pp. 2649-2655 ◽  
Author(s):  
Bo Yi ◽  
Guohui Wang ◽  
Jianmin Li ◽  
Juan Jiang ◽  
Zhi Son ◽  
...  
Keyword(s):  
Minimally Invasive ◽  
Surgical Robot ◽  
Clinical Use ◽  
Robot System ◽  
Minimally Invasive Surgical

Ergonomic Analysis of the Master of Minimally Invasive Surgical Robot

2011 ◽  
Vol 418-420 ◽  
pp. 2018-2023
Author(s):  
Qing Bo Zhang ◽  
Chen Zhao ◽  
Xiao Ming Luo
Keyword(s):  
Minimally Invasive ◽  
Surgical Robot ◽  
The Other ◽  
Robot System ◽  
Minimally Invasive Surgical ◽  
Well Design ◽  
Ergonomic Analysis ◽  
Key Techniques

How to well design the master console is one of the key techniques of master-slave surgical robot system. Related to the slave arms, to the surgeon and to the other components of the console the two master arms need to satisfy all requirements of different aspect. In this paper the ergonomic problem is treated. Operated by the surgeon the master arm should be placed in a suitable position. In addition, it should also have good back-drivability. Some analyses and rationales are made to solve these problems.

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