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	Design and kinematic analysis of a pedicle screws surgical robot
	Haiyang Jin; Peng Zhang; Ying Hu; Jianwei Zhang; Zhizeng Zheng
	2010
会议名称	2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010
会议地点	Tianjin, China
英文摘要	A Pedicle Screws Surgical Robot (PSSR) can reduce the risk of spinal surgery and improve surgical precision, which plays an important role in promoting the medical care level of spinal surgery. A new type of PSSR is proposed in this paper, and the mechanical structure and its working principle are also introduced. The kinematics model of the robot is derived from D-H notation in order to obtain the forward kinematics, inverse kinematics and workspace of the robot. A control and planning algorithm for the PSSR is carried out. This study can provide the basis for the development of PSSR prototype.
收录类别	EI
语种	英语
内容类型	会议论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/2837]
专题	深圳先进技术研究院_集成所
作者单位	2010
推荐引用方式 GB/T 7714	Haiyang Jin,Peng Zhang,Ying Hu,et al. Design and kinematic analysis of a pedicle screws surgical robot[C]. 见:2010 IEEE International Conference on Robotics and Biomimetics, ROBIO 2010. Tianjin, China.

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