A Novel Medical Robotic System for Laser-based Therapies
会议名称：《第三十届中国控制会议》
会议日期：2011年
学科分类：1002[医学-临床医学] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 100206[医学-皮肤病与性病学] 10[医学]
关 键 词：Medical Robot Passive Manipulator Kinematic Analysis
摘 要：正Port wine stain（PWS） birthmarks are congenital vascular malformations,which usually appear at birth and tend to become darker and thicker with age’s ***-targeted photodynamic therapy（PDT） is an effective approach in the treatment of ***,due to the arbitrariness of manual operation and existing pole points of laser radiation,the PWS zone was always cured unevenly in *** we developed a novel robotic system,which consists of passive arm and active wrist,to assist doctors in exerting PDT *** joints are easy to interface with doctors,safe and convenience;active joints can automate the PDT,so that let doctors focus on clinical judgements and the treatments rather than heave manual *** this paper,the mechanism of PWS and PDT were described in brief;the robotic system including the detailed robot mechanical design and kinematic analysis is discussed based on the requirements of PDT. Finally,the robot feasibility was validated by experimental results.