Design and experiment of a 3-DoF master device with a 2-DoF parallel mechanism for flexible ureteroscopy.

Journal: The international journal of medical robotics + computer assisted surgery : MRCAS
Published Date:

Abstract

BACKGROUND: Traditional commercial master devices and specialied serial master devices meet insufficient workspace, low intuitiveness, low stiffness, and poor accuracy during master-slave mapping for robot-assisted flexible ureteroscopy (FURS).

Authors

  • Jianchang Zhao
    Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin, China.
  • Shuxin Wang
    a Key Laboratory of Mechanism Theory and Equipment Design of Ministry of Education , Tianjin University , Tianjin , China.
  • Jiatong Wang
    Key Laboratory of Mechanism Theory and Equipment Design, Ministry of Education, Tianjin, China.
  • Jinhua Li
    Key Lab for Mechanism Theory and Equipment Design of Ministry of Education, Tianjin University, Tianjin, China.
  • Liang Cui
    Department of Urology, Civil Aviation General Hospital, Civil Aviation Medical College of Peking University, Beijing, China.
  • Jianmin Li
    School of Mechanical Engineering, Tianjin University, China.