Abstract:
Bedside robots equipped with medical devices can be effective in assisting physicians to perform specific medical tasks on mobile medical vehicles via remote operation. H...Show MoreMetadata
Abstract:
Bedside robots equipped with medical devices can be effective in assisting physicians to perform specific medical tasks on mobile medical vehicles via remote operation. However, the major challenges are to make the robot small and dexterous enough to meet the clinical requirements and fit into the small space of the mobile medical vehicle. In this paper, we propose a miniaturized bedside robotic wrist based on a 6-RSU parallel mechanism with multifunctional motion capabilities. The robotic wrist can be equipped with various medical instruments, including but not limited to ultrasound probes, biopsy needles and endoscopes. To meet different clinical needs, the motion mode of the robotic wrist can be switched between decoupled and remote center of motion. To verify the effectiveness of the design, the kinematic model of the robotic wrist for two motion modes was established and different simulation studies were performed. The experimental results show that the robotic wrist has a favorable working performance to be deployed onto mobile medical vehicles, demonstrating its promising application prospects.
Published in: 2023 IEEE 3rd International Conference on Digital Twins and Parallel Intelligence (DTPI)
Date of Conference: 07-09 November 2023
Date Added to IEEE Xplore: 26 December 2023
ISBN Information: