TY - GEN
T1 - A macro-robot manipulator for medical applications
AU - Yousef, Basem
AU - Patel, Rajni
AU - Moallem, Mehrdad
PY - 2006
Y1 - 2006
N2 - An actuated robot arm is designed for use as a macro manipulator that can carry, appropriately orient, precisely position and firmly "lock" in position different types of micro robots and surgical tools necessary for applications in minimally invasive therapy. The sophisticated configuration and joint structure of the arm enable it to perform and interact efficiently with the constrained and limited workspace of surgical environments. The normally locked braking system and the simple quick release joint enhance the safety features of the robot for emergencies and power shutdown. With a simple manipulation protocol, the surgeon can use the robot without undergoing any training. Robot workspace analysis indicates that all singularities are outside the operating work envelope. A performance analysis shows that the robot operates with an average displacement accuracy of 0.58 mm and a roll, pitch and yaw angular accuracies of 0.26°, 0.26° and 0.38° respectively.
AB - An actuated robot arm is designed for use as a macro manipulator that can carry, appropriately orient, precisely position and firmly "lock" in position different types of micro robots and surgical tools necessary for applications in minimally invasive therapy. The sophisticated configuration and joint structure of the arm enable it to perform and interact efficiently with the constrained and limited workspace of surgical environments. The normally locked braking system and the simple quick release joint enhance the safety features of the robot for emergencies and power shutdown. With a simple manipulation protocol, the surgeon can use the robot without undergoing any training. Robot workspace analysis indicates that all singularities are outside the operating work envelope. A performance analysis shows that the robot operates with an average displacement accuracy of 0.58 mm and a roll, pitch and yaw angular accuracies of 0.26°, 0.26° and 0.38° respectively.
UR - http://www.scopus.com/inward/record.url?scp=34548142635&partnerID=8YFLogxK
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U2 - 10.1109/ICSMC.2006.384438
DO - 10.1109/ICSMC.2006.384438
M3 - Conference contribution
AN - SCOPUS:34548142635
SN - 1424401003
SN - 9781424401000
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 530
EP - 535
BT - 2006 IEEE International Conference on Systems, Man and Cybernetics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2006 IEEE International Conference on Systems, Man and Cybernetics
Y2 - 8 October 2006 through 11 October 2006
ER -