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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 ; Telerobotics and Control Laboratory, Department of Mechanical Engineering, KAIST, Daejeon, 305-701, Republic of Korea ; Won-Ho Shin ; Seong-Young Ko ; Jonathan Kim
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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:

2008 IEEE/ASME International Conference on Advanced Intelligent Mechatronics

Date of Conference:

2-5 July 2008