A. Gasparetto, M. Giovagnoni, G. Rosati, A. Trevisani, and V. Zanotto
Design and construction of a slave robot for telerobotic spine surgery
In Proceedings of the 12th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD03, Cassino (FR), Italy, May 2003

Abstract: In this paper, the design and construction of a robot for telerobotic spine surgery is discussed. This work comes from a collaboration between the Department of Electrical, Management, and Mechanical Engineering of the University of Udine and the Department of Innovation in Mechanics and Management of the University of Padova. As far as the kinematic structure is concerned, the robot consists in a cartesian gantry robot provided with a robotic wrist. The resulting 6-DOF manipulator serves as the slave in a master-slave teleoperation system. Since the robot is intended to perform spinal surgical tasks, appropriate design requirements such as accuracy, working space, dimensions and sensory information have been established. The wrist will be equipped with several surgical tools; in particular, the robot will move a suitable high accuracy drill.

Topic: Robotics
Activity: SurBot: six d.o.f. cartesian robot
Project: RIME

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