Project of the assigning/executive manipulator to surgery

• Autorzy: Barczak T. , Mianowski K.
• Języki publikacji: EN

Abstrakty

EN

The development of an interactive remote control of robots, of sensors and of view systems has enabled an expansion of potential area of modern surgery. Initiated by an army, the project of surgery in the field of battle has become a base of new domain of knowledge. It should be noticed that surgery executed by robots as minimally invasive surgery could be more precise and less incriminating for patient then using classical methods. The topic of the research described in this elaboration is the project of the haptic device with 6 degrees of freedom intended for the work with feedback-force control. The kinematic scheme is based on a partially decoupled parallelogram mechanism POLMAN 3×2. It means that it has 3 arms, each consists of parallelogram and quadrilateral transmission-carrying mechanism. The displacement of any degree of freedom has a very little influence on other degrees of freedom. Very important problem for ergonomic and surgery precision is a signal communication between the two sides, so it can give a feeling of real touching of an operated tissue by a doctor.

Słowa kluczowe

EN

robots; manipulator; surgery; haptics; 6 dof; parallel robot; force feedback; laparoscopic surgery

• Wydawca: Foundation for Young Scientists
• Czasopismo: Challenges of Modern Technology
• Rocznik: 2011
• Tom: Vol. 2, no. 3
• Strony: 20--24
• Opis fizyczny: Bibliogr. 10 poz., rys., wykr.

Twórcy

autor

Barczak T.

• The Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Nowowiejska 24, 00-665 Warsaw. Poland

autor

Mianowski K.

• The Institute of Aeronautics and Applied Mechanics, Warsaw University of Technology, Nowowiejska 24, 00-665 Warsaw. Poland

Bibliografia

• [1] Mianowski, K. „Manipulator POLMAN-3×2 do zastosowań neurochirurgicznych”. Pomiary Automatyka i Robotyka 4 (2004) [in Polish].
• [2] Mianowski, K., Z. Nawrat, and M. Kulawiec. „Narzędzie laparoskopowe do robota kardiochirurgicznego”. Pomiary Automatyka i Robotyka 2 (2004) [in Polish].
• [3] Nawrat, Z. Medical Robots 1. Zabrze, 2007.
• [4] Gordon, A.G., and P.J. Taylor. Laparoskopia praktyczna. Warszawa: Medyczna Agencja Wydawniczo-Informacyjna, 1994 [in Polish].
• [5] Mały poradnik mechanika 2. Warszawa: WNT, 2000 [in Polish].
• [6] Niezgodziński, M.E., and T. Niezgodziński. Wzory, wykresy i tablice wytrzymałościowe. Warszawa: PWN, 1984 [in Polish].
• [7] Korytkowski, B. Podstawy konstrukcji maszyn. Warszawa: Wydawnictwo Politechniki Warszawskiej and PWN, 2003 [in Polish].
• [8] Paprocki, K. Zasady zapisu konstrukcji. Warszawa, 1979 [in Polish].
• [9] http://www.intuitivesurgical.com
• [10] http://www.robinheart.pl