Name
Abstract | ||
|---|---|---|
The paper describes co-robotic devices, aiming at accomplishing surgical operations by remote overseeing and manipulation. The concept design of a modular layout is presented, assuring body penetration by curved and twisted paths, with minimal impact. The fixture develops as an articulated snake-like forearm, carrying a wrist and the pertinent effectors; scalpels, scissors, sewing rigs, cameras, etc. The fixture is a good example of a micro electro mechanical system, with force-actuation and shape-control being intrinsic properties. Different options are studied and the related basic operational characteristics are summarised and compared. The jointed forearm might include one to six blocks. Specifically, task-oriented end-effectors are considered, e.g. a self-operating sewing rig, able to operate with a single thread. The robot co-operation will drastically modify surgery practice, giving freedom from anthropocentric bounds; the paper introduces such opportunities, with comments on typical control strategies and hints on actual performance, inferred by testing on virtual reality and digital mock-ups. |
Year | DOI | Venue |
|---|---|---|
2003 | 10.1108/01439910310506837 | INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION |
Keywords | Field | DocType |
robotics, surgical equipment, inspection | Virtual reality,Engineering drawing,Fixture,Simulation,Control engineering,Thread (computing),Artificial intelligence,Modular design,Engineering,Robot,Mechanical system,Robotics | Journal |
Volume | Issue | ISSN |
30 | 6 | 0143-991X |
Citations | PageRank | References |
1 | 0.43 | 5 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Francesco Cepolina | 1 | 11 | 2.33 |
| Rinaldo C. Michelini | 2 | 7 | 4.43 |