Design and development of an assisting robotic arm in minimally invasive breast surgery

Yu Jingke; Liu Rong; Zhang Houxiang; Zhang Jianwei

doi:10.1109/ROBIO.2007.4522186

Design and development of an assisting robotic arm in minimally invasive breast surgery

Yu Jingke^*
, Liu Rong
, Zhang Houxiang
, Zhang Jianwei

^*Corresponding author for this work

School of Mechanical Engineering and Automation

Beihang University
University of Hamburg
Shenzhen Institute of Advanced Technology

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

1 Scopus citations

Abstract

According to the actual requirement of minimally invasive breast surgery, we put forward the project of assisting robotic arm. The mechanism design is presented in detail after analyzing the whole system. By using the ball and socket joint, ball-joint-brake mechanism is proposed which satisfies the high dexterity and small physical volume requirement of the wrist joint. Then the pure mechanical switchover apparatus is designed to meet the requirement of heat disinfect process. A primary prototype has been built based on the brake designs of joints. Through ADAMS simulation and practical experiment, workspace of robotic arm extremity and the brake torque parameters of ball joint are obtained. The result proves the feasibility of assisting robotic arm using in the surgery.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Publisher	IEEE Computer Society
Pages	349-354
Number of pages	6
ISBN (Print)	9781424417582
DOIs	https://doi.org/10.1109/ROBIO.2007.4522186
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

Assisting robotic arm
Ball-joint-brake mechanism
Brake mechanism
Minimally invasive breast surgery

Access to Document

10.1109/ROBIO.2007.4522186

Cite this

Jingke, Y., Rong, L., Houxiang, Z., & Jianwei, Z. (2007). Design and development of an assisting robotic arm in minimally invasive breast surgery. In 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO (pp. 349-354). Article 4522186 (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2007.4522186

@inproceedings{178f942e45dd4ff5a7cfa7afdeb607eb,

title = "Design and development of an assisting robotic arm in minimally invasive breast surgery",

abstract = "According to the actual requirement of minimally invasive breast surgery, we put forward the project of assisting robotic arm. The mechanism design is presented in detail after analyzing the whole system. By using the ball and socket joint, ball-joint-brake mechanism is proposed which satisfies the high dexterity and small physical volume requirement of the wrist joint. Then the pure mechanical switchover apparatus is designed to meet the requirement of heat disinfect process. A primary prototype has been built based on the brake designs of joints. Through ADAMS simulation and practical experiment, workspace of robotic arm extremity and the brake torque parameters of ball joint are obtained. The result proves the feasibility of assisting robotic arm using in the surgery.",

keywords = "Assisting robotic arm, Ball-joint-brake mechanism, Brake mechanism, Minimally invasive breast surgery",

author = "Yu Jingke and Liu Rong and Zhang Houxiang and Zhang Jianwei",

year = "2007",

doi = "10.1109/ROBIO.2007.4522186",

language = "英语",

isbn = "9781424417582",

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

publisher = "IEEE Computer Society",

pages = "349--354",

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",

}

Jingke, Y, Rong, L, Houxiang, Z & Jianwei, Z 2007, Design and development of an assisting robotic arm in minimally invasive breast surgery. in 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO., 4522186, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, IEEE Computer Society, pp. 349-354, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, Yalong Bay, Sanya, China, 15/12/07. https://doi.org/10.1109/ROBIO.2007.4522186

Design and development of an assisting robotic arm in minimally invasive breast surgery. / Jingke, Yu; Rong, Liu; Houxiang, Zhang et al.
2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. IEEE Computer Society, 2007. p. 349-354 4522186 (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO).

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

TY - GEN

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AU - Jingke, Yu

AU - Rong, Liu

AU - Houxiang, Zhang

AU - Jianwei, Zhang

PY - 2007

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N2 - According to the actual requirement of minimally invasive breast surgery, we put forward the project of assisting robotic arm. The mechanism design is presented in detail after analyzing the whole system. By using the ball and socket joint, ball-joint-brake mechanism is proposed which satisfies the high dexterity and small physical volume requirement of the wrist joint. Then the pure mechanical switchover apparatus is designed to meet the requirement of heat disinfect process. A primary prototype has been built based on the brake designs of joints. Through ADAMS simulation and practical experiment, workspace of robotic arm extremity and the brake torque parameters of ball joint are obtained. The result proves the feasibility of assisting robotic arm using in the surgery.

AB - According to the actual requirement of minimally invasive breast surgery, we put forward the project of assisting robotic arm. The mechanism design is presented in detail after analyzing the whole system. By using the ball and socket joint, ball-joint-brake mechanism is proposed which satisfies the high dexterity and small physical volume requirement of the wrist joint. Then the pure mechanical switchover apparatus is designed to meet the requirement of heat disinfect process. A primary prototype has been built based on the brake designs of joints. Through ADAMS simulation and practical experiment, workspace of robotic arm extremity and the brake torque parameters of ball joint are obtained. The result proves the feasibility of assisting robotic arm using in the surgery.

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KW - Ball-joint-brake mechanism

KW - Brake mechanism

KW - Minimally invasive breast surgery

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M3 - 会议稿件

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ER -

Design and development of an assisting robotic arm in minimally invasive breast surgery

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