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
UR - https://www.scopus.com/pages/publications/49249119129
U2 - 10.1109/ROBIO.2007.4522187
DO - 10.1109/ROBIO.2007.4522187
M3 - 会议稿件
AN - SCOPUS:49249119129
SN - 9781424417582
T3 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
SP - 355
EP - 359
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 -