A macro-robot manipulator for medical applications

Basem Yousef, Rajni Patel, Mehrdad Moallem

Research output: Chapter in Book/Report/Conference proceedingConference contribution

11 Citations (Scopus)

Abstract

An actuated robot arm is designed for use as a macro manipulator that can carry, appropriately orient, precisely position and firmly "lock" in position different types of micro robots and surgical tools necessary for applications in minimally invasive therapy. The sophisticated configuration and joint structure of the arm enable it to perform and interact efficiently with the constrained and limited workspace of surgical environments. The normally locked braking system and the simple quick release joint enhance the safety features of the robot for emergencies and power shutdown. With a simple manipulation protocol, the surgeon can use the robot without undergoing any training. Robot workspace analysis indicates that all singularities are outside the operating work envelope. A performance analysis shows that the robot operates with an average displacement accuracy of 0.58 mm and a roll, pitch and yaw angular accuracies of 0.26°, 0.26° and 0.38° respectively.

Original languageEnglish
Title of host publication2006 IEEE International Conference on Systems, Man and Cybernetics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages530-535
Number of pages6
ISBN (Print)1424401003, 9781424401000
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE International Conference on Systems, Man and Cybernetics - Taipei, Taiwan, Province of China
Duration: Oct 8 2006Oct 11 2006

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
Volume1
ISSN (Print)1062-922X

Other

Other2006 IEEE International Conference on Systems, Man and Cybernetics
Country/TerritoryTaiwan, Province of China
CityTaipei
Period10/8/0610/11/06

ASJC Scopus subject areas

  • Engineering(all)

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