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An Advanced Robot -Robin Heart (A Surgeon without Hand Tremor)

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Author(s): Mrs. Aruna.D.Mane | Sirkazi Mohd Arif | Waleed abdu rahiman

Journal: International Journal of Engineering and Advanced Technology
ISSN 2249-8958

Volume: 2;
Issue: 5;
Start page: 242;
Date: 2013;
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Keywords: Medical robots | Examination of robots | Construction of robots.

ABSTRACT
The paper presents the current state of works conducted by the Zabrze team under the Robin Heart surgical robot and the Robin Heart Uni System mechatronic surgical tools project as a example of introducing technology and materials advances for progress in surgical robots. The project called “Polish Cardiosurgical Robot” has been developed by Foundation for Cardiac Surgery Development since year 2000. Within the project the telemanipulator to perform the endoscopic cardiosurgical operations has been designed, manufactured and examined. In the following paper the development of construction of arms for Robin Heart versions of the robot as well as the fixing system has been presented. In the preliminary phase of the project the requirements for mechanical construction were analyzed. Additional requirements enhancing functionality of the construction were also defined. A system to verify the forward kinematic and the trajectories for the Robin Heart master device was implemented. The system consists of hardware based on incremental encoders connected to a data acquisition card and software programmed in Matlab and LabView to create an interface between the system and the user. The system verifies the position of the tool tip when different values for the joints are configured. The visualization of trajectories is also possible after saving a routine of movements made by the user. Analyses of the planned development of the construction and ways of its possible applications were performed. The special intention is to show the review of the current and futuristic medical robots needs in the area of material science.
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