Optimization of a spherical mechanism for a minimally invasive surgical robot: Theoretical and experimental approaches

IEEE Transactions on Biomedical Engineering

Volumn 53, Issue 7, 2006, Pages 1440-1445

  Lum, Mitchell J H ^a   Rosen, Jacob ^a   Sinanan, Mika N ^b   Hannaford, Blake ^a  

^a University of Washington   (United States)

^b UNIVERSITY OF WASHINGTON SCHOOL OF MEDICINE   (United States)

Author keywords

Isotropy; Jacobian; Minimally invasive surgery; Optimization; Serial mechanism; Spherical mechanism; Surgical robot

Indexed keywords

COLLISION AVOIDANCE; CONSTRAINT THEORY; DATABASE SYSTEMS; HEALTH CARE; OPTIMIZATION; PROBLEM SOLVING; SURGERY;

ISOTROPY; MINIMALLY INVASIVE SURGERY (MIS); SERIAL MECHANISM; SPHERICAL MECHANISM; SURGICAL ROBOTS;

ROBOTS;

ARTICLE; DATA BASE; EVALUATION; HEALTH CARE; HEALTH CARE DELIVERY; IN VIVO STUDY; KINEMATICS; MICROMANIPULATOR; ROBOTICS; SURGEON; THEORY; COMPUTER AIDED DESIGN; COMPUTER ASSISTED SURGERY; EQUIPMENT; EQUIPMENT DESIGN; INSTRUMENTATION; METHODOLOGY; MINIMALLY INVASIVE SURGERY; QUALITY CONTROL; ROTATION; TELEMEDICINE;

COMPUTER-AIDED DESIGN; EQUIPMENT DESIGN; EQUIPMENT FAILURE ANALYSIS; QUALITY CONTROL; ROBOTICS; ROTATION; SURGERY, COMPUTER-ASSISTED; SURGICAL PROCEDURES, MINIMALLY INVASIVE; TELEMEDICINE;

EID: 33746855553     PISSN: 00189294     EISSN: None     Source Type: Journal    
DOI: 10.1109/TBME.2006.875716     Document Type: Article

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