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Compact Multiple Functional Integrated Medical Robotic End-Effector for Neurosurgery

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机构: [1]Beijing Univ Posts & Telecommun, Sch Intelligent Engn & Automat, Med Robot Lab, Beijing 100876, Peoples R China [2]Univ Tokyo, Grad Sch Engn, Tokyo 1138656, Japan [3]Capital Med Univ, Xuanwu Hosp, Dept Neurosurg, Beijing 100053, Peoples R China [4]Harvard Med Sch, Brigham & Womens Hosp, Boston, MA 02115 USA [5]Beijing Inst Technol, Sch Mechatron Engn, Beijing 100081, Peoples R China [6]Beijing Inst Technol, Beijing Adv Innovat Ctr Intelligent Robots & Syst, Beijing 100081, Peoples R China [7]Beihang Univ, Beijing Adv Innovat Ctr Biomed Engn, Sch Biol Sci & Med Engn, Key Lab Biomech & Mechanobiol,Chinese Educ Minist, Beijing 100083, Peoples R China [8]Beihang Univ, Sch Mech Engn & Automat, Beijing 100083, Peoples R China
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In neurosurgery, surgeons use single-function surgical tools such as aspirator and electric-coagulation cutters to deal with blood vessel bleeding. Compared with multifunctional surgical tools, the surgical efficiency of using single-function tools is lower. In this paper, a multiple functional integrated medical robotic end-effector which integrates CCD imaging, electric-coagulation and suction is designed. The end-effector can be installed at the end of the serial robotic arm. The CAD model of the end-effector was constructed, and the motion analysis is carried out. The end-effector is proved to be effective by three experiments. The operator can use the design to suction blood, spotting of bleeding spots, and electric-coagulation lesion. In operations, there is no need to change the surgical tools, improve the efficiency of the operation.

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第一作者机构: [1]Beijing Univ Posts & Telecommun, Sch Intelligent Engn & Automat, Med Robot Lab, Beijing 100876, Peoples R China
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