具有新型同心关节的微创手术机器人平台

J. Medical Robotics Res. Pub Date : 2021-02-01 DOI:10.1142/s2424905x20500014

Samir Morad, C. Ulbricht, P. Harkin, Justin Chan, K. Parker, R. Vaidyanathan

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引用次数: 0

摘要

本文提出了一种新型同心连接关节(CCJ)手术机器人平台。手术机器人是由多个支柱组成的并联机器人平台，以几何稳定的阵列排列，在它们的端点通过CCJ连接。CCJ节点在节点周围具有近乎完美的旋转同心度，使得支撑的拉力和压缩力能够以结构高效的方式得到求解。介绍了初步的可行性测试、建模和仿真。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Surgical Robot Platform with a Novel Concentric Joint for Minimally Invasive Procedures

In this paper, a surgical robot platform with a novel concentric connector joint (CCJ) is presented. The surgical robot is a parallel robot platform comprised of multiple struts, arranged in a geometrically stable array, connected at their end points via the CCJ. The CCJ joints have nearperfect concentricity of rotation around the node point, which enables the tension and compression forces of the struts to be resolved in a structurally-efficient manner. The preliminary feasibility tests, modelling, and simulations were introduced.

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J. Medical Robotics Res.

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