A 5-DOF table-mounted surgical robot

Feng Li; Lei Hu; Shaolong Kuang; Chuang Yang; Tianmiao Wang

doi:10.1109/ROBIO.2007.4522187

A 5-DOF table-mounted surgical robot

Feng Li^*
, Lei Hu
, Shaolong Kuang
, Chuang Yang
, Tianmiao Wang

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

Combined with the circumstances of the surgical robot and ideas of the modularized design and the plug-and-play, a 5-DOF table-mounted robot system based on the distributed strategy is proposed. According to its functions and the task characteristics, the hardware and software of this system have been designed. Aiming at some key problems of this system and requirements for the safety and the human machine interface (HMI), the structure of PRPRR to form the robot body has been used, and the control system based on the distributed method, accompanied with a 3D mouse for the convenience of HMI, has been adopted. In this way, the accuracy, the safety and the convenience can be ensured. Results from two experiments have confirmed the above requirements.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Publisher	IEEE Computer Society
Pages	355-359
Number of pages	5
ISBN (Print)	9781424417582
DOIs	https://doi.org/10.1109/ROBIO.2007.4522187
State	Published - 2007
Event	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China Duration: 15 Dec 2007 → 18 Dec 2007

Publication series

Name	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Conference

Conference	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Country/Territory	China
City	Yalong Bay, Sanya
Period	15/12/07 → 18/12/07

Keywords

Distributed control strategy
Human machine interface
Modularization
Plug-and-play

Access to Document

10.1109/ROBIO.2007.4522187

Cite this

@inproceedings{3805845bc49743f683f58a2dab510a36,

title = "A 5-DOF table-mounted surgical robot",

abstract = "Combined with the circumstances of the surgical robot and ideas of the modularized design and the plug-and-play, a 5-DOF table-mounted robot system based on the distributed strategy is proposed. According to its functions and the task characteristics, the hardware and software of this system have been designed. Aiming at some key problems of this system and requirements for the safety and the human machine interface (HMI), the structure of PRPRR to form the robot body has been used, and the control system based on the distributed method, accompanied with a 3D mouse for the convenience of HMI, has been adopted. In this way, the accuracy, the safety and the convenience can be ensured. Results from two experiments have confirmed the above requirements.",

keywords = "Distributed control strategy, Human machine interface, Modularization, Plug-and-play",

author = "Feng Li and Lei Hu and Shaolong Kuang and Chuang Yang and Tianmiao Wang",

year = "2007",

doi = "10.1109/ROBIO.2007.4522187",

language = "英语",

isbn = "9781424417582",

series = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO",

publisher = "IEEE Computer Society",

pages = "355--359",

booktitle = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO",

address = "美国",

note = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO ; Conference date: 15-12-2007 Through 18-12-2007",

}

Li, F, Hu, L, Kuang, S, Yang, C & Wang, T 2007, A 5-DOF table-mounted surgical robot. in 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO., 4522187, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, IEEE Computer Society, pp. 355-359, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, Yalong Bay, Sanya, China, 15/12/07. https://doi.org/10.1109/ROBIO.2007.4522187

A 5-DOF table-mounted surgical robot. / Li, Feng; Hu, Lei; Kuang, Shaolong et al.
2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. IEEE Computer Society, 2007. p. 355-359 4522187 (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A 5-DOF table-mounted surgical robot

AU - Li, Feng

AU - Hu, Lei

AU - Kuang, Shaolong

AU - Yang, Chuang

AU - Wang, Tianmiao

PY - 2007

Y1 - 2007

N2 - Combined with the circumstances of the surgical robot and ideas of the modularized design and the plug-and-play, a 5-DOF table-mounted robot system based on the distributed strategy is proposed. According to its functions and the task characteristics, the hardware and software of this system have been designed. Aiming at some key problems of this system and requirements for the safety and the human machine interface (HMI), the structure of PRPRR to form the robot body has been used, and the control system based on the distributed method, accompanied with a 3D mouse for the convenience of HMI, has been adopted. In this way, the accuracy, the safety and the convenience can be ensured. Results from two experiments have confirmed the above requirements.

AB - Combined with the circumstances of the surgical robot and ideas of the modularized design and the plug-and-play, a 5-DOF table-mounted robot system based on the distributed strategy is proposed. According to its functions and the task characteristics, the hardware and software of this system have been designed. Aiming at some key problems of this system and requirements for the safety and the human machine interface (HMI), the structure of PRPRR to form the robot body has been used, and the control system based on the distributed method, accompanied with a 3D mouse for the convenience of HMI, has been adopted. In this way, the accuracy, the safety and the convenience can be ensured. Results from two experiments have confirmed the above requirements.

KW - Distributed control strategy

KW - Human machine interface

KW - Modularization

KW - Plug-and-play

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DO - 10.1109/ROBIO.2007.4522187

M3 - 会议稿件

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SN - 9781424417582

T3 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

SP - 355

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BT - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

PB - IEEE Computer Society

T2 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Y2 - 15 December 2007 through 18 December 2007

ER -

A 5-DOF table-mounted surgical robot

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Keywords

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