Abstract
This paper deals with an ongoing research program in robotized reconstructive surgery. The constraints of skin harvesting are first described in terms of medical and robotics constraints. In a second part, thanks to a CAD system and a kinematic study, we analyse various mechanical structures and we show that they cannot satisfy our needs regarding singularity free motions. Finally, we propose a robot architecture — a 6 degree-of-freedom manipulator with a non-spherical wrist whose interesting features are a simple and closed-form solution to the Inverse Kinematics Model, the ability to move the tool without collision with the robot links and a simple mechanical design.
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Duchemin, G., Dombre, E., Pierrot, F., Degoulange, E. (2000). SCALPP: A 6-DOF Robot with a Non-Spherical Wrist for Surgical Applications. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_18
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DOI: https://doi.org/10.1007/978-94-011-4120-8_18
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