Matches in SemOpenAlex for { <https://semopenalex.org/work/W1964352201> ?p ?o ?g. }
Showing items 1 to 68 of
68
with 100 items per page.
- W1964352201 abstract "The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery." @default.
- W1964352201 created "2016-06-24" @default.
- W1964352201 creator A5020285801 @default.
- W1964352201 creator A5054228072 @default.
- W1964352201 date "2008-01-01" @default.
- W1964352201 modified "2023-09-27" @default.
- W1964352201 title "Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation" @default.
- W1964352201 doi "https://doi.org/10.1115/detc2008-49163" @default.
- W1964352201 hasPublicationYear "2008" @default.
- W1964352201 type Work @default.
- W1964352201 sameAs 1964352201 @default.
- W1964352201 citedByCount "2" @default.
- W1964352201 countsByYear W19643522012013 @default.
- W1964352201 countsByYear W19643522012014 @default.
- W1964352201 crossrefType "proceedings-article" @default.
- W1964352201 hasAuthorship W1964352201A5020285801 @default.
- W1964352201 hasAuthorship W1964352201A5054228072 @default.
- W1964352201 hasConcept C121332964 @default.
- W1964352201 hasConcept C154945302 @default.
- W1964352201 hasConcept C17816587 @default.
- W1964352201 hasConcept C19966478 @default.
- W1964352201 hasConcept C2775924081 @default.
- W1964352201 hasConcept C31972630 @default.
- W1964352201 hasConcept C39920418 @default.
- W1964352201 hasConcept C41008148 @default.
- W1964352201 hasConcept C44154836 @default.
- W1964352201 hasConcept C47446073 @default.
- W1964352201 hasConcept C58581272 @default.
- W1964352201 hasConcept C62520636 @default.
- W1964352201 hasConcept C74050887 @default.
- W1964352201 hasConcept C74222875 @default.
- W1964352201 hasConcept C74650414 @default.
- W1964352201 hasConcept C89611455 @default.
- W1964352201 hasConcept C90509273 @default.
- W1964352201 hasConceptScore W1964352201C121332964 @default.
- W1964352201 hasConceptScore W1964352201C154945302 @default.
- W1964352201 hasConceptScore W1964352201C17816587 @default.
- W1964352201 hasConceptScore W1964352201C19966478 @default.
- W1964352201 hasConceptScore W1964352201C2775924081 @default.
- W1964352201 hasConceptScore W1964352201C31972630 @default.
- W1964352201 hasConceptScore W1964352201C39920418 @default.
- W1964352201 hasConceptScore W1964352201C41008148 @default.
- W1964352201 hasConceptScore W1964352201C44154836 @default.
- W1964352201 hasConceptScore W1964352201C47446073 @default.
- W1964352201 hasConceptScore W1964352201C58581272 @default.
- W1964352201 hasConceptScore W1964352201C62520636 @default.
- W1964352201 hasConceptScore W1964352201C74050887 @default.
- W1964352201 hasConceptScore W1964352201C74222875 @default.
- W1964352201 hasConceptScore W1964352201C74650414 @default.
- W1964352201 hasConceptScore W1964352201C89611455 @default.
- W1964352201 hasConceptScore W1964352201C90509273 @default.
- W1964352201 hasLocation W19643522011 @default.
- W1964352201 hasOpenAccess W1964352201 @default.
- W1964352201 hasPrimaryLocation W19643522011 @default.
- W1964352201 hasRelatedWork W1971065162 @default.
- W1964352201 hasRelatedWork W2039666737 @default.
- W1964352201 hasRelatedWork W2048761404 @default.
- W1964352201 hasRelatedWork W2109468315 @default.
- W1964352201 hasRelatedWork W2111449477 @default.
- W1964352201 hasRelatedWork W2130371366 @default.
- W1964352201 hasRelatedWork W2147815539 @default.
- W1964352201 hasRelatedWork W2358284875 @default.
- W1964352201 hasRelatedWork W2785936034 @default.
- W1964352201 hasRelatedWork W4231681387 @default.
- W1964352201 isParatext "false" @default.
- W1964352201 isRetracted "false" @default.
- W1964352201 magId "1964352201" @default.
- W1964352201 workType "article" @default.