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This paper establishes the spatial kinematic model of the six-wheeled-legged robot by combining its spatial motion. In the process of the robot's crossing the obstacle, the position of its centroid determines whether the robot can cross the obstacle successfully or not, so the paper establishes the spatial kinematic model and the kinematic model of the centroid, and furthermore, simplifies the model...
The problems such as inadequate precision, excessive radiation, over fatigue and other issues urgently need to be resolved in the cervical artificial disc replacement surgery. In this paper, a medical robot system has been developed to replace the fixture system used in the cervical artificial disc replacement surgery. Firstly, the medical robot mechanical design with an active parallel head and a...
This paper presents the design of a 6-DOF parallel robot used in the artificial cervical disc replacement surgery, which is used to complete positioning and grinding between prosthesis and bone mating surfaces and whose moving platform is connected to the fixed platform by six UPS (Universal-Prismatic-Spherical) serial chains. In the paper, inverse position, a first-order static influence coefficient...
Robotically assisted minimally invasive surgery (RAMIS) is an increasingly important technology, which leads to great advances in the field of general surgery. However, the potential of this technology is constrained by the collision occurred during the operation. One effective solution to this problem is through an efficient preoperative planning for the robotic system, including port placement,...
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