{"title":"提高腹腔镜手术灵活性的模块化高效机械臂设计","authors":"J. Lowery, C. Nelson","doi":"10.1115/dmd2020-9010","DOIUrl":null,"url":null,"abstract":"\n This paper outlines the design of a reconfigurable, partially disposable, tendon-driven robotic arm for providing assistance in laparoscopic surgery. The rationale for its development and design objectives are provided, followed by a description of its mechanical design. Kinematic simulations to assess workspace are presented, and a first-stage assessment of the functionality of a prototype using a custom test bench is also included.","PeriodicalId":93509,"journal":{"name":"2020 Design of Medical Devices Conference (DMD 2020). Design of Medical Devices Conferences (2020 : Minneapolis, Minn.)","volume":"604 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2020-04-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery\",\"authors\":\"J. Lowery, C. Nelson\",\"doi\":\"10.1115/dmd2020-9010\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"\\n This paper outlines the design of a reconfigurable, partially disposable, tendon-driven robotic arm for providing assistance in laparoscopic surgery. The rationale for its development and design objectives are provided, followed by a description of its mechanical design. Kinematic simulations to assess workspace are presented, and a first-stage assessment of the functionality of a prototype using a custom test bench is also included.\",\"PeriodicalId\":93509,\"journal\":{\"name\":\"2020 Design of Medical Devices Conference (DMD 2020). Design of Medical Devices Conferences (2020 : Minneapolis, Minn.)\",\"volume\":\"604 1\",\"pages\":\"\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2020-04-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2020 Design of Medical Devices Conference (DMD 2020). Design of Medical Devices Conferences (2020 : Minneapolis, Minn.)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1115/dmd2020-9010\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2020 Design of Medical Devices Conference (DMD 2020). Design of Medical Devices Conferences (2020 : Minneapolis, Minn.)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1115/dmd2020-9010","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery
This paper outlines the design of a reconfigurable, partially disposable, tendon-driven robotic arm for providing assistance in laparoscopic surgery. The rationale for its development and design objectives are provided, followed by a description of its mechanical design. Kinematic simulations to assess workspace are presented, and a first-stage assessment of the functionality of a prototype using a custom test bench is also included.
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