A Linear Base Articulated Robot Arm for Surgical Endoscopy

daVinci;Trocar;Laparoscopy;Laparoscopic;Robot;Surgical;Localization;Endoscopic;Endoscopy

Kracht, Aaron Arthur ; Dr. John Muth, Committee Member,Dr. Ola Harrysson, Committee Member,Dr. Edward Grant, Committee Chair,Kracht, Aaron Arthur ; Dr. John Muth ; Committee Member ; Dr. Ola Harrysson ; Committee Member ; Dr. Edward Grant ; Committee Chair

University:North Carolina State University

关键词: daVinci;    Trocar;    Laparoscopy;    Laparoscopic;    Robot;    Surgical;    Localization;    Endoscopic;    Endoscopy;   

Others  :  https://repository.lib.ncsu.edu/bitstream/handle/1840.16/1331/etd.pdf?sequence=2&isAllowed=y

美国|英语

来源: null

【 摘 要 】

This project involved developing a surgical robot assistant using an articulated robot running on a linear axis.The research concentrated on studying the localization of an endoscopic tool.The kinematics involved in this type situation requires that a constant point in space (trocar point) is maintained along a rigid tool while repositioning the manipulator.Results show that the localization algorithm and interactive interface developed is capable of using this unique robot configuration to perform the desired task.For this system, error was used as the performance metric.Positioning of the endoscopic manipulator relative to the world coordinate frame was possible to within 0.05 inch.Error in maintaining a constant point in space is evident during repositioning however this was caused by limitations in the robot arm.