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

^*此作品的通讯作者

机械工程及自动化学院

Beihang University
University of Hamburg
Shenzhen Institute of Advanced Technology

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
出版商	IEEE Computer Society
页	349-354
页数	6
ISBN（印刷版）	9781424417582
DOI	https://doi.org/10.1109/ROBIO.2007.4522186
出版状态	已出版 - 2007
活动	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, 中国期限: 15 12月 2007 → 18 12月 2007

出版系列

姓名	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

会议

会议	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
国家/地区	中国
市	Yalong Bay, Sanya
时期	15/12/07 → 18/12/07

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10.1109/ROBIO.2007.4522186

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引用此

Jingke, Y., Rong, L., Houxiang, Z., & Jianwei, Z. (2007). Design and development of an assisting robotic arm in minimally invasive breast surgery. 在 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO (页码 349-354). 文章 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. 在 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO., 4522186, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, IEEE Computer Society, 页码 349-354, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, Yalong Bay, Sanya, 中国, 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 等.
2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. IEEE Computer Society, 2007. 页码 349-354 4522186 (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

T1 - Design and development of an assisting robotic arm in minimally invasive breast surgery

AU - Jingke, Yu

AU - Rong, Liu

AU - Houxiang, Zhang

AU - Jianwei, Zhang

PY - 2007

Y1 - 2007

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.

KW - Assisting robotic arm

KW - Ball-joint-brake mechanism

KW - Brake mechanism

KW - Minimally invasive breast surgery

UR - https://www.scopus.com/pages/publications/49249117401

U2 - 10.1109/ROBIO.2007.4522186

DO - 10.1109/ROBIO.2007.4522186

M3 - 会议稿件

AN - SCOPUS:49249117401

SN - 9781424417582

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

SP - 349

EP - 354

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 -

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

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