Abstract
In this paper, a structure for an assistant robot in arthroscopic surgery with 6 degrees of freedom is proposed. A structure based on a 6 DOF robot was selected which its first 3 DOFs are used for positioning and 2 final ones forming a wrist orientate the arthroscope. The roll DOF has no effect on image and hence was eliminated. A sliding link was added between link 3 and wrist to facilitate horizontal guidance and penetration. The final structure is a RRRPRR robot.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Shirzad, H., Falahati, F., Majidi, A., Bagheri, S. (2009). Designing a 6 Dof Assistant Robot for Arthroscopic Surgery. In: Dössel, O., Schlegel, W.C. (eds) World Congress on Medical Physics and Biomedical Engineering, September 7 - 12, 2009, Munich, Germany. IFMBE Proceedings, vol 25/6. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-03906-5_53
Download citation
DOI: https://doi.org/10.1007/978-3-642-03906-5_53
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-03905-8
Online ISBN: 978-3-642-03906-5
eBook Packages: EngineeringEngineering (R0)