TY - GEN
T1 - Workspace Analysis of 6-RSS Parallel Robot to Assist Cervical Laminectomy
AU - Liu, Jianze
AU - Guo, Jiangzhen
AU - Li, Xianglong
AU - Liu, Jia
AU - Song, Jipeng
AU - Ding, Lixiang
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - Cervical laminectomy is a common clinical procedure to decompress the cervical spine. However, because of the limited operating space of cervical spine surgery, the surgeon's operation precision is required to be high. Robot-assisted surgery can usually achieve good precision by precise positioning and manipulation of the robot, while parallel robots can attain better precision due to their mechanical characteristics. Compared with other types of parallel robots, the 6-RSS has a simpler structure and lower mass of moving parts, and therefore performs better in human-robot interaction, which ensures the surgeon's precise operation. However, the kinematic analysis of 6-RSS parallel robots is usually more complicated than other types, making the workspace analysis difficult. In this paper, the theoretical mechanism model of the 6-RSS parallel robot was built and coordinates were defined. The workspace was analyzed to evaluate end rotation and movement ability, which can optimize the structural design and guide the robot design.
AB - Cervical laminectomy is a common clinical procedure to decompress the cervical spine. However, because of the limited operating space of cervical spine surgery, the surgeon's operation precision is required to be high. Robot-assisted surgery can usually achieve good precision by precise positioning and manipulation of the robot, while parallel robots can attain better precision due to their mechanical characteristics. Compared with other types of parallel robots, the 6-RSS has a simpler structure and lower mass of moving parts, and therefore performs better in human-robot interaction, which ensures the surgeon's precise operation. However, the kinematic analysis of 6-RSS parallel robots is usually more complicated than other types, making the workspace analysis difficult. In this paper, the theoretical mechanism model of the 6-RSS parallel robot was built and coordinates were defined. The workspace was analyzed to evaluate end rotation and movement ability, which can optimize the structural design and guide the robot design.
KW - 6-RSS
KW - cervical laminectomy
KW - constraint
KW - parallel robot
KW - rotation ability
KW - workspace
UR - https://www.scopus.com/pages/publications/85191452457
U2 - 10.1109/ICARCE59252.2024.10492572
DO - 10.1109/ICARCE59252.2024.10492572
M3 - 会议稿件
AN - SCOPUS:85191452457
T3 - ICARCE 2023 - 2023 2nd International Conference on Automation, Robotics and Computer Engineering
BT - ICARCE 2023 - 2023 2nd International Conference on Automation, Robotics and Computer Engineering
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd International Conference on Automation, Robotics and Computer Engineering, ICARCE 2023
Y2 - 14 December 2023 through 16 December 2023
ER -