Другие журналы
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Banin
The Axial Assist Blood Pump Impeller Geometrical Parameters Impact on the Coefficient of Efficiency
Engineering Education # 11, November 2016 DOI: 10.7463/1116.0849907 pp. 162-174
Mathematical Modeling of a Blood Flow in Flow Path of the Axial Pump of Ventricular Assist Device
Engineering Education # 10, October 2015 DOI: 10.7463/1015.0821220 pp. 473-488
Analysis of Contemporary Methods for Designing Rotary Type Ventricular Assist Devices
Engineering Education # 02, February 2015 DOI: 10.7463/0215.0755225 pp. 250-268
Coordinate relationship of the medical robot – manipulator
Engineering Education # 12, December 2012 DOI: 10.7463/0113.0520630 During surgical operations with the use of a robot–manipulator, control actions are managed by force effects in the area of the surgical operation. The constructional design of the robot is chosen according to the technological requirements for implementation of specific movements. It turns out that when a force is applied to the tool, displacement of the force application point can be non-collinear to the force vector. If interaction between a surgical instrument and the operation object can be reduced to a concentrated force, it is necessary to choose a beneficial robot configuration to avoid lateral offset. In this configuration the force vector must be aimed to the proper direction of the robot compliance matrix in the force application point. The proposed calculation method helps to construct a working configuration of the robot with respect to minimization of possible spurious derivation of the instrument from the requested trajectory.
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