posted on 2018-07-05, 09:24authored byAdam V.C. Reedman
Development of manipulators that interact closely with humans has been a focus of
research in fields such as robot-assisted surgery The recent introduction of powered
surgical-assistant devices into the operating theatre has meant that modified industrial
robot manipulators have been required to interact with both patient and surgeon
Some of these robots require the surgeon to grasp the end-effector and apply a force
while the joint actuators provide resistance to motion In the operating theatre, the use
of high-powered mechanisms to perform these tasks could compromise the safety of
the patient, surgeon and operating room staff.
In this investigation, a two degrees-of-freedom (2-DoF) manipulator is designed for
the purpose of following a pre-defined path under the direct control of the surgeon. [Continues.]
Funding
Loughborough University. Engineering and Physical Sciences Research Council (EPSRC).
History
School
Mechanical, Electrical and Manufacturing Engineering
This work is made available according to the conditions of the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0) licence. Full details of this licence are available at: https://creativecommons.org/licenses/by-nc-nd/4.0/
Publication date
2002
Notes
A Doctoral Thesis. Submitted in partial fulfilment of the requirements for the award of Doctor of Philosophy at Loughborough University.