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Design of a compact 5-DOF surgical robot of a spherical mechanism: CURES

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5 Author(s)
Sung-Kyun Kim ; Dept. of Mech. Eng., KAIST, Daejeon ; Won-Ho Shin ; Seong-Young Ko ; Kim, J.
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In recent years, several surgical or assistant robots have made a successful debut to surgical theatre. Due to their large size, and high price, there is a growing need for the miniaturization of these surgical robots. In this paper, a design methodology for a compact surgical robot is presented. Considering workspace and force requirements, a simulation and experiments are conducted to determine the design parameters. The compact surgical robot CURES of 5-DOF spherical mechanism is developed from the analysis and its properties are presented.

Published in:

Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on

Date of Conference:

2-5 July 2008