Development of a robot system assisting artificial cervical disc replacement surgery

Tian, Heqiang; Wu, Dongmei; Du, Zhijiang; Ma, Junlin; Sun, Lining

doi:10.1109/robio.2010.5723531

Cited by 3 publications

(2 citation statements)

References 13 publications

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“…The parallel robot consists of two circular plates connected by six linear actuators having a stroke of 150 mm and maximum force of 600 N generated by each actuator. Encoders In spinal surgeries, a parallel robot was developed by Tian et al [129] for the replacement of the cervical artificial disc. The robot was implemented to replace the fixture system used in such surgery (Figure 93).…”

Section: Parallel Robot For Medical Applicationsmentioning

confidence: 99%

Flexible robotic device for spinal surgery

Morad

Ulbricht

Harkin

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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The copyright of this thesis rests with the author and is made available under a Creative Commons Attribution Non-Commercial No Derivatives Licence. Researchers are free to copy, distribute or transmit the thesis on the condition that they attribute it, that they do not use it for commercial purposes and that they do not alter, transform or build upon it. For any reuse or redistribution, researchers must make clear to others the licence terms of this work.

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Section: Parallel Robot For Medical Applicationsmentioning

confidence: 99%

Flexible robotic device for spinal surgery

Morad

Ulbricht

Harkin

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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“…A parallel robot is used to complete mating surfaces grinding of the cervical implant prosthesis instead of the manual surgical instruments in robot-assisted surgery cervical disc replacement system [1], as shown in Fig. 1.…”

Section: Introductionmentioning

confidence: 99%

Dexterity Analysis of a Surgical Assistant 6-UPS Parallel Robot

Tian

Dai

et al. 2013

AMM

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A 6-UPS parallel is adopted to complete mating surfaces grinding of the cervical implant prosthesis instead of the manual surgical instruments in robot-assisted surgery cervical disc replacement system. Therefore, the surgical assistant parallel robot end-effector has better flexibility in some continuous space and best movement and force transmission performance on the moving trajectory beyond reasonable structures and enough degrees of freedom of the grinding movement. In this paper, the dexterity of the surgical assistant 6-UPS parallel robot is analyzed. Firstly, the vector construction method is used to solve Jacobian matrix of the surgical assistant 6-UPS parallel robot, and then the linear velocity and angular velocity dexterity indicators are used to analyze the dexterity of the surgical assistant parallel robot. From the results, the parallel robot movement and force transmission performance degrades away from the surgical space and the cervical vertebra grinding parallel robot has best grinding performance near the center surgical workspace of the moving platform.

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

Morad

Ulbricht

Harkin

et al. 2020

J. Med. Robot. Res.

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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 near-perfect 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, modeling and simulations were introduced.

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Development of a robot system assisting artificial cervical disc replacement surgery

Cited by 3 publications

References 13 publications

Flexible robotic device for spinal surgery

Flexible robotic device for spinal surgery

Dexterity Analysis of a Surgical Assistant 6-UPS Parallel Robot

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

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