Dexterity analysis of radio frequency ablation robot
作者： Qinjun Du
DOI: 10.1109/ICAL.2008.4636390
关键词:
摘要: The radio frequency ablation operation is performed as a means of minimally invasive surgery. In this method, the tool inserted into tumor center based on transcutaneous ultrasonography navigation, then, surgeons guarantee toolpsilas point in tumorpsilas entire operations. According to task surgical operation, small and compact medical robot proposed analyzing dexterous workspace, manipulability dexterity. Analyzing dexterity robot, which contribute ablator can be orientated stably dexterously.
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