@inproceedings{54fff3ef4cf94ec3a118d4baf44f8abc,
title = "Kinematic Analysis of 6-RSS Parallel Robot Designed for Assisting Cervical Laminectomy",
abstract = "Cervical laminectomy is a kind of clinical surgery mainly used for decompression of a cervical vertebrate. Because of the limited space of the cervical vertebrate, this surgery requires surgeons to operate in a higher degree of accuracy. A robot-assisted surgery can always achieve good accuracy by virtue of precise positioning and operation of the robot, and a parallel robot can perform better accuracy due to its mechanism feature. A 6-RSS has a more concise structure and lower mass of moving parts than other types of parallel robots, thus it performs better in human-machine interaction which could guarantee precise operations of surgeons. But kinematic analysis of a 6-RSS parallel robot is normally more complicated than other types. In this paper, the theoretical mechanism model of the 6-RSS parallel robot was built and coordinates were defined. The kinematic model was derived based on the closed-loop kinematic chain. The dexterity indices were analyzed to facilitate the design process of the robot.",
keywords = "6-RSS, cervical laminectomy, dexterity, kinematic analysis, parallel robot",
author = "Jiangzhen Guo and Jianze Liu and Xianglong Li and Jia Liu and Jipeng Song and Lixiang Ding",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2nd International Conference on Automation, Robotics and Computer Engineering, ICARCE 2023 ; Conference date: 14-12-2023 Through 16-12-2023",
year = "2023",
doi = "10.1109/ICARCE59252.2024.10492570",
language = "英语",
series = "ICARCE 2023 - 2023 2nd International Conference on Automation, Robotics and Computer Engineering",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "ICARCE 2023 - 2023 2nd International Conference on Automation, Robotics and Computer Engineering",
address = "美国",
}