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
Authors | Morad, S., Ulbricht, C., Harkin, P., Chan, J., Parker, K. and Vaidyanathan, R. |
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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. |
Keywords | Surgical robotics; parallel robot platform; form-changing space frames; concentric connector joint |
Journal | Journal of Medical Robotics Research |
Journal citation | 5 (Art. 2050001) |
ISSN | 2424-905X |
Year | 2021 |
Publisher | World Scientific Publishing Company |
Accepted author manuscript | License File Access Level Anyone |
Digital Object Identifier (DOI) | https://doi.org/10.1142/S2424905X20500014 |
Publication dates | |
Online | 01 Feb 2021 |
Publication process dates | |
Accepted | 18 Dec 2020 |
Deposited | 17 Mar 2021 |
Funder | EPSRC 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 |
https://repository.uel.ac.uk/item/89161
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Accepted author manuscript
JMRR-D-20-00004_R2.pdf | ||
License: All rights reserved | ||
File access level: Anyone |
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