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6-DOF Maxillofacial surgical robotic manipulator controlled by Haptic device

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6 Author(s)
Amjad Ali Syed ; Intelligent Robotics Institute, Ministry of Education, School of Mechatronical Engineering, Beijing Institute of Technology, 5 Nandajie, Zhongguancun, Haidian, 100081, China ; Xing-guang Duan ; Xiangzhan Kong ; Meng Li
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As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot are designed to assisting maxillofacial surgery and one of the 6-DOF arm of the robot is controlled by Haptic device, which can improve surgical precision and reduce surgeon's strain for tele-robotic surgery. Firstly, overview of the whole system is introduced. Then this paper focuses on the Surgical manipulator, Haptic device and its control Algorithm by inverse kinematics. Finally, the prototype was established and experiments were carried out under the observation of Navigation system to show the robot's smooth running and accurate positioning.

Published in:

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Date of Conference:

26-28 Nov. 2012