“In this paper we describe novel rotatory kinematics for a manipulator, specially developed for deployment in robot-aided surgery. The construction of the gearing mechanism used for the positioning and orientation of a linkage point is described,” wrote P. Pott and colleagues, University of Mannheim, Orthopedic Clinic.
“Forward and inverse kinematics were calculated, and a constructive solution proposed. The gearing mechanism is based on two disk systems, each of which consists of two opposing rotatable discs. The construction was designed in such a way that the linkage point can be positioned freely anywhere within the mechanism’s range of motion,” the researchers wrote.
“The kinematics thus permit an x-y-positioning via rotating movements only. The spatial arrangement of two of such disc systems permits movements in four degrees of freedom (DOF). The construction is compact, but can be further miniaturized, is flexible, and manufacturing costs are low. On the basis of this mechanical concept a new, small automated manipulator for surgical application will be developed,” the researchers concluded.
Pott and colleagues published their study in Biomedizinische Technik (A gearing mechanism with 4 degrees of freedom for robotic applications in medicine. Biomed Tech, 2004;49(6):177-180).
For more information, contact P. Pott, University of Mannheim, Orthopedic Clinic, Biomechics & Experimental Orthopedics Laboratory, Theodor Kutzer Ufer 1-3, D-68167 Mannheim, Germany.
Publisher contact information for the journal Biomedizinische Technik is: Fachverlag Schiele Schon, Markgrafenstrasse 11, D-10969 Berlin, Germany.
The information in this article comes under the major subject areas of Biotechnology and Medical Devices.
This article was prepared by Medical Devices & Surgical Technology Week editors from staff and other reports. Copyright 2004, Medical Devices & Surgical Technology Week via NewsRx.com & NewsRx.net.
Copyright 2004 Medical Devices & Surgical Technology Week via NewsRx.com & NewsRx.net
Copyright © 2002 LexisNexis, a division of Reed Elsevier Inc.