Surgical Robot Platform with a Novel Concentric Joint for Minimally Invasive Procedures

Article


Morad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R. 2021. Surgical Robot Platform with a Novel Concentric Joint for Minimally Invasive Procedures. Journal of Medical Robotics Research. 5 (Art. 2050001). https://doi.org/10.1142/S2424905X20500014
AuthorsMorad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R.
Abstract

In this paper, a surgical robot platform with a novel concentric connector joint (CCJ) is presented. The surgical robot is a parallel robot platform comprised of multiple struts, arranged in a geometrically stable array, connected at their end points via the CCJ. The CCJ joints have nearperfect concentricity of rotation around the node point, which enables the tension and compression forces of the struts to be resolved in a structurally-efficient manner. The preliminary feasibility tests, modelling, and simulations were introduced.

KeywordsSurgical robotics; parallel robot platform; form-changing space frames; concentric connector joint
JournalJournal of Medical Robotics Research
Journal citation5 (Art. 2050001)
ISSN2424-905X
Year2021
PublisherWorld Scientific Publishing Company
Accepted author manuscript
License
File Access Level
Anyone
Digital Object Identifier (DOI)https://doi.org/10.1142/S2424905X20500014
Publication dates
Online01 Feb 2021
Publication process dates
Accepted18 Dec 2020
Deposited17 Mar 2021
FunderEPSRC research project
Copyright holder© 2021 World Scientific Publishing Co Pte Ltd
Additional information

Author accepted manuscript version of an article published as: Surgical Robot Platform with a Novel Concentric Joint for Minimally Invasive Procedures, Journal of Medical Robotics Research, 5 (03n04) 2050001, 2021 10.1142/S2424905X20500014. https://www.worldscientific.com/doi/abs/10.1142/S2424905X20500014

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