@inproceedings{58b8a2ab80bb4b1492fc4d9163c7ed73,
title = "Equivalent mechanisms techniques for redesign of a spherical surgical tool manipulator",
abstract = "In the design of robotic manipulators for minimally invasive surgery (MIS), the spherical mechanism is a very important kinematic entity, since it can be used to mimic the constraint that the incision point provides to the surgical tool. In previous research by the authors, a bevel-gear-based spherical manipulator was designed whose actuators could be located on a fixed base link. In this paper, concepts of mechanism equivalency are applied to improving the manipulator design. The guidelines arrived at in this work can inform design of future spherical manipulators, especially those created with surgical tool manipulation in mind.",
author = "Nelson, {Carl A.} and Xiaoli Zhang",
year = "2010",
doi = "10.1115/DETC2010-28367",
language = "English (US)",
isbn = "9780791844106",
series = "Proceedings of the ASME Design Engineering Technical Conference",
number = "PARTS A AND B",
pages = "11--17",
booktitle = "ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010",
edition = "PARTS A AND B",
note = "ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 ; Conference date: 15-08-2010 Through 18-08-2010",
}