A novel compliant surgical robot: Preliminary design analysis
A. Kapsalyamov, S. Hussain, P. K. Jamwal, Mathematical Biosciences and Engineering 17 (2020) 1944–1958.
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Artikel
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Autor*in
Kapsalyamov, Akim
;
Hussain, Shahid;
K. Jamwal, Prashant
;
Hussain, Shahid;
K. Jamwal, PrashantAbstract
A robotic surgical system capable of performing minimally invasive surgery (MIS) is proposed in this paper. Based on the requirements of MIS, a compliant, seven- degrees of freedom (7-DOF) pneumatically actuated mechanism is designed. A remote center of motion (RCM) as a parallelogram mechanism for holding the laparoscopic camera is also developed. The operating workspace of robotic surgical system is determined considering the physical constraints imposed by mechanical joints. The simulation results show that the robotic system meets the design requirement. This research will lay a good foundation for the development of a compliant surgical robot to assist in MIS.
Erscheinungsjahr
Zeitschriftentitel
Mathematical Biosciences and Engineering
Band
17
Zeitschriftennummer
3
Seite
1944-1958
ISSN
FH-PUB-ID
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Kapsalyamov, Akim ; Hussain, Shahid ; K. Jamwal, Prashant: A novel compliant surgical robot: Preliminary design analysis. In: Mathematical Biosciences and Engineering Bd. 17, American Institute of Mathematical Sciences (AIMS) (2020), Nr. 3, S. 1944–1958
Kapsalyamov A, Hussain S, K. Jamwal P. A novel compliant surgical robot: Preliminary design analysis. Mathematical Biosciences and Engineering. 2020;17(3):1944-1958. doi:10.3934/mbe.2020103
Kapsalyamov, A., Hussain, S., & K. Jamwal, P. (2020). A novel compliant surgical robot: Preliminary design analysis. Mathematical Biosciences and Engineering, 17(3), 1944–1958. https://doi.org/10.3934/mbe.2020103
@article{Kapsalyamov_Hussain_K. Jamwal_2020, title={A novel compliant surgical robot: Preliminary design analysis}, volume={17}, DOI={10.3934/mbe.2020103}, number={3}, journal={Mathematical Biosciences and Engineering}, publisher={American Institute of Mathematical Sciences (AIMS)}, author={Kapsalyamov, Akim and Hussain, Shahid and K. Jamwal, Prashant}, year={2020}, pages={1944–1958} }
Kapsalyamov, Akim, Shahid Hussain, and Prashant K. Jamwal. “A Novel Compliant Surgical Robot: Preliminary Design Analysis.” Mathematical Biosciences and Engineering 17, no. 3 (2020): 1944–58. https://doi.org/10.3934/mbe.2020103.
A. Kapsalyamov, S. Hussain, and P. K. Jamwal, “A novel compliant surgical robot: Preliminary design analysis,” Mathematical Biosciences and Engineering, vol. 17, no. 3, pp. 1944–1958, 2020.
Kapsalyamov, Akim, et al. “A Novel Compliant Surgical Robot: Preliminary Design Analysis.” Mathematical Biosciences and Engineering, vol. 17, no. 3, American Institute of Mathematical Sciences (AIMS), 2020, pp. 1944–58, doi:10.3934/mbe.2020103.
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