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https://repository.monashhealth.org/monashhealthjspui/handle/1/57636| Conference/Presentation Title: | Design of a 3-DOF parallel mechanism for the enhancement of endonasal surgery | Authors: | Nowell R.;Shirinzadeh B.;Lai L. ;Smith J. ;Zhong Y. | Monash Health Department(s): | Neurosurgery Monash University - School of Clinical Sciences at Monash Health |
Institution: | (Nowell, Shirinzadeh) Department of Mechanical and Aerospace Engineering, Monash University, VIC, Australia (Lai) Department of Neurosurgery, Monash Health, VIC, Australia (Smith) Department of Surgery, Monash University, VIC, Australia (Zhong) School of Aerospace Mechanical and Manufacturing Engineering, RMIT, VIC, Australia |
Presentation/Conference Date: | 24-Aug-2017 | Copyright year: | 2017 | Publisher: | IEEE | Publication information: | 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), Munich, Germany, 2017, (pp 749-754). Date of publication: 2017. | Journal: | 2017 IEEE International Conference on Advanced Intelligent Mechatronics | Abstract: | Additive manufacturing was used to build a large scale prototype of a 3-DOF, 3-PRS parallel manipulator designed for enhancing the mobility of instruments used in endonasal neurosurgery. The prototype is 5 times larger than the design, with an outer diameter of 25mm. It uses custom ball and socket joints to provide pitch and roll capabilities of ±60° while remaining compact. Testing of the robots range of motion shows the desired workspace is achievable. Visual tracking was used to record the precision of this motion. Positioning errors were relatively low with a root mean squared error of 1.1°. The prototype exhibits high strength and is able to withstand axial forces of 80 N and torques up to 300 N mm. Future research will focus on the development of a 5 mm diameter manipulator. | Conference Name: | IEEE/ASME (AIM) International Conference on Advanced Intelligdent Mechatronics | Conference Start Date: | 2017-07-03 | Conference End Date: | 2017-07-07 | Conference Location: | Munich, Germany | DOI: | http://monash.idm.oclc.org/login?url=https://doi.org/10.1109/AIM.2017.8014107 | URI: | https://repository.monashhealth.org/monashhealthjspui/handle/1/57636 | Type: | Conference Abstract |
| Appears in Collections: | Conference Abstracts |
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