Design and kinematic analysis of a pedicle screws surgical robot
文献类型：会议论文
| 作者 | Haiyang Jin; Peng Zhang; Ying Hu; Jianwei Zhang; Zhizeng Zheng |
| 出版日期 | 2010 |
| 会议名称 | 2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010 |
| 会议地点 | Tianjin, China |
| 英文摘要 | A Pedicle Screws Surgical Robot (PSSR) can reduce the risk of spinal surgery and improve surgical precision, which plays an important role in promoting the medical care level of spinal surgery. A new type of PSSR is proposed in this paper, and the mechanical structure and its working principle are also introduced. The kinematics model of the robot is derived from D-H notation in order to obtain the forward kinematics, inverse kinematics and workspace of the robot. A control and planning algorithm for the PSSR is carried out. This study can provide the basis for the development of PSSR prototype. |
| 收录类别 | EI |
| 语种 | 英语 |
| 源URL | [http://ir.siat.ac.cn:8080/handle/172644/2837]  |
| 专题 | 深圳先进技术研究院_集成所 |
| 作者单位 | 2010 |
| 推荐引用方式 GB/T 7714 | Haiyang Jin,Peng Zhang,Ying Hu,et al. Design and kinematic analysis of a pedicle screws surgical robot[C]. 见:2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. Tianjin, China. |
入库方式： OAI收割
来源：深圳先进技术研究院
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