TY - GEN
T1 - Mechanical and Kinematic Design of Surgical Mini Robotic Manipulator used into SP-LAP Multi-DOF Platform for Training and Simulation
AU - Cornejo, Jose
AU - Cornejo-Aguilar, Jorge A.
AU - Gonzalez, Cristians
AU - Sebastian, Raul
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021/8/5
Y1 - 2021/8/5
N2 - Surgical robotics is the new age of minimally invasive procedures, for this reason, it is important to acquire fundamental skills using training and simulation. Therefore, a research study was developed to present the design of 2 robotic arms, which are used into SP-LAP training platform for remote control haptic manipulation in order to magnify natural eye-hand-instrument alignment, boost motor dexterity and minimally invasive, enhance ergonomics, ensure feasibility, safety, and patient risk reduction. The proposed medical robotic manipulator has 3 degrees of freedom (DOF), 4 links and 3 joints, which have 9 DOF in combination with the multi-DOF system, to promote the application for new surgical techniques and approaches, based on the ergonomics during triangulation. In conclusion, the analysis is focused on mechanical 3D design and kinematics. The next step of the project is to evaluate adding 2 DOF more, and also work on the mechatronic integration of sensors and actuators, and then, perform test and validation of the cyber-physical system.
AB - Surgical robotics is the new age of minimally invasive procedures, for this reason, it is important to acquire fundamental skills using training and simulation. Therefore, a research study was developed to present the design of 2 robotic arms, which are used into SP-LAP training platform for remote control haptic manipulation in order to magnify natural eye-hand-instrument alignment, boost motor dexterity and minimally invasive, enhance ergonomics, ensure feasibility, safety, and patient risk reduction. The proposed medical robotic manipulator has 3 degrees of freedom (DOF), 4 links and 3 joints, which have 9 DOF in combination with the multi-DOF system, to promote the application for new surgical techniques and approaches, based on the ergonomics during triangulation. In conclusion, the analysis is focused on mechanical 3D design and kinematics. The next step of the project is to evaluate adding 2 DOF more, and also work on the mechatronic integration of sensors and actuators, and then, perform test and validation of the cyber-physical system.
KW - manipulator
KW - minimally invasive
KW - multi-DOF system
KW - SP-LAP
KW - Surgical robotics
UR - http://www.scopus.com/inward/record.url?scp=85116263384&partnerID=8YFLogxK
UR - https://www.mendeley.com/catalogue/46b51cf7-178b-3642-947a-c236d121e5a9/
U2 - 10.1109/INTERCON52678.2021.9532965
DO - 10.1109/INTERCON52678.2021.9532965
M3 - Contribución a la conferencia
AN - SCOPUS:85116263384
SN - 9781665412216
T3 - Proceedings of the 2021 IEEE 28th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021
BT - Proceedings of the 2021 IEEE 28th International Conference on Electronics, Electrical Engineering and Computing, INTERCON 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 5 August 2021 through 7 August 2021
ER -