A novel compliant surgical robot: Preliminary design analysis
A robotic surgical system capable of performing minimally invasive surgery (MIS) is proposed in this paper. Based on the requirements of MIS, a compliant, seven- degrees of freedom (7-DOF) pneumatically actuated mechanism is designed. A remote center of motion (RCM) as a parallelogram mechanism for...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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AIMS Press
2020-01-01
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| Series: | Mathematical Biosciences and Engineering |
| Subjects: | |
| Online Access: | https://www.aimspress.com/article/doi/10.3934/mbe.2020103?viewType=HTML |
| _version_ | 1818922521709248512 |
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| author | Akim Kapsalyamov Shahid Hussain Prashant K. Jamwal |
| author_facet | Akim Kapsalyamov Shahid Hussain Prashant K. Jamwal |
| author_sort | Akim Kapsalyamov |
| collection | DOAJ |
| description | A robotic surgical system capable of performing minimally invasive surgery (MIS) is proposed in this paper. Based on the requirements of MIS, a compliant, seven- degrees of freedom (7-DOF) pneumatically actuated mechanism is designed. A remote center of motion (RCM) as a parallelogram mechanism for holding the laparoscopic camera is also developed. The operating workspace of robotic surgical system is determined considering the physical constraints imposed by mechanical joints. The simulation results show that the robotic system meets the design requirement. This research will lay a good foundation for the development of a compliant surgical robot to assist in MIS. |
| first_indexed | 2024-12-20T01:54:52Z |
| format | Article |
| id | doaj.art-28116f18323e4f65981de6e823834dae |
| institution | Directory Open Access Journal |
| issn | 1551-0018 |
| language | English |
| last_indexed | 2024-12-20T01:54:52Z |
| publishDate | 2020-01-01 |
| publisher | AIMS Press |
| record_format | Article |
| series | Mathematical Biosciences and Engineering |
| spelling | doaj.art-28116f18323e4f65981de6e823834dae2022-12-21T19:57:32ZengAIMS PressMathematical Biosciences and Engineering1551-00182020-01-011731944195810.3934/mbe.2020103A novel compliant surgical robot: Preliminary design analysisAkim Kapsalyamov0Shahid Hussain1Prashant K. Jamwal21. Department of Electrical and Computer Engineering, Nazarbayev University, Astana, Kazakhstan2. Human-Centred Technology Research Center, Faculty of Science and Technology, University of Canberra, Canberra, ACT, Australia 1. Department of Electrical and Computer Engineering, Nazarbayev University, Astana, KazakhstanA robotic surgical system capable of performing minimally invasive surgery (MIS) is proposed in this paper. Based on the requirements of MIS, a compliant, seven- degrees of freedom (7-DOF) pneumatically actuated mechanism is designed. A remote center of motion (RCM) as a parallelogram mechanism for holding the laparoscopic camera is also developed. The operating workspace of robotic surgical system is determined considering the physical constraints imposed by mechanical joints. The simulation results show that the robotic system meets the design requirement. This research will lay a good foundation for the development of a compliant surgical robot to assist in MIS.https://www.aimspress.com/article/doi/10.3934/mbe.2020103?viewType=HTMLmedical robotsminimally invasive surgerylaparoscopic cameraremote center of motionpneumatic actuator |
| spellingShingle | Akim Kapsalyamov Shahid Hussain Prashant K. Jamwal A novel compliant surgical robot: Preliminary design analysis Mathematical Biosciences and Engineering medical robots minimally invasive surgery laparoscopic camera remote center of motion pneumatic actuator |
| title | A novel compliant surgical robot: Preliminary design analysis |
| title_full | A novel compliant surgical robot: Preliminary design analysis |
| title_fullStr | A novel compliant surgical robot: Preliminary design analysis |
| title_full_unstemmed | A novel compliant surgical robot: Preliminary design analysis |
| title_short | A novel compliant surgical robot: Preliminary design analysis |
| title_sort | novel compliant surgical robot preliminary design analysis |
| topic | medical robots minimally invasive surgery laparoscopic camera remote center of motion pneumatic actuator |
| url | https://www.aimspress.com/article/doi/10.3934/mbe.2020103?viewType=HTML |
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