Abstract
The present paper introduces the mechanical design of a robotic manipulator for craniotomy application considering its kinematic and force transmission ability. The craniotomy is a surgical technique that allows the surgeon to access the patient’s brain by drilling and cutting the skull. The technical requirements of this application are explained. A dedicated mechanical architecture is proposed. This serial spherical arm is analysed in terms of kinematic and force transmission. An optimal mechanism is selected, designed and its actuator are selected to with respect to the identified performances. The global design of the manipulator is analysed and adjusted to reduce the structural deformation.
Original language | English |
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Title of host publication | Robotics and Mechatronics - Proceedings of the 4th IFToMM International Symposium on Robotics and Mechatronics |
Editors | Said Zeghloul, Med Amine Laribi, Jean-Pierre Gazeau |
Publisher | Kluwer Academic Publishers |
Pages | 191-198 |
Number of pages | 8 |
ISBN (Print) | 9783319223674 |
DOIs | |
State | Published - 2016 |
Externally published | Yes |
Event | 4th IFToMM International Symposium on Robotics and Mechatronics, ISRM 2015 - Poitiers, France Duration: 23 06 2015 → 25 06 2015 |
Publication series
Name | Mechanisms and Machine Science |
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Volume | 37 |
ISSN (Print) | 2211-0984 |
ISSN (Electronic) | 2211-0992 |
Conference
Conference | 4th IFToMM International Symposium on Robotics and Mechatronics, ISRM 2015 |
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Country/Territory | France |
City | Poitiers |
Period | 23/06/15 → 25/06/15 |
Bibliographical note
Publisher Copyright:© Springer International Publishing Switzerland 2016.
Keywords
- Craniotomy
- Force analysis
- Kinematics
- Medical robot
- Serial spherical arm