Другие журналы
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Batanov
Coordinate relationship of the medical robot – manipulator
Engineering Education # 12, December 2012 DOI: 10.7463/0113.0520630 During surgical operations with the use of a robot–manipulator, control actions are managed by force effects in the area of the surgical operation. The constructional design of the robot is chosen according to the technological requirements for implementation of specific movements. It turns out that when a force is applied to the tool, displacement of the force application point can be non-collinear to the force vector. If interaction between a surgical instrument and the operation object can be reduced to a concentrated force, it is necessary to choose a beneficial robot configuration to avoid lateral offset. In this configuration the force vector must be aimed to the proper direction of the robot compliance matrix in the force application point. The proposed calculation method helps to construct a working configuration of the robot with respect to minimization of possible spurious derivation of the instrument from the requested trajectory.
SENSITIVE THE SURGICAL TOOL FOR INTRAVASCULAR MANIPULATIONS
Engineering Education # 12, December 2009 DOI: 10.7463/1209.0134636 In work the possible scheme очувствления the surgical tool for carrying out of operations in vessels is considered. The offered scheme allows the surgeon in operating conditions (on line) to receive the information on level of working efforts in the field of surgical intervention. It can be used for designing очувствленных working bodies of robots – manipulators of surgical appointment. A working out main objective is creation of the system, allowing to warn possible mechanical damages of biological fabrics in the course of carrying out of surgical operation.
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