Abstract
The concept of a medical parallel manipulator applied to chest compressions in the process of cardiopulmonary resuscitation (CPR) is proposed in this paper. According to the requirements of CPR action from medical aspects, a S-PRS (prismatic-revolute-spherical) parallel manipulator (PM) is designed utilizing an architectural optimization methodology for such kind of applications. The dynamic modeling is performed for the S-PRS PM by the approach of Lagrangian formulation, and the simulation results verify the accuracy of the derived dynamic equations quantitatively. The research work provides a sound base for the development of a medical manipulator to assist in CPR operation.
| Original language | English |
|---|---|
| Article number | 1557060 |
| Pages (from-to) | 842-845 |
| Number of pages | 4 |
| Journal | Canadian Conference on Electrical and Computer Engineering |
| Volume | 2005 |
| DOIs | |
| Publication status | Published - 1 Dec 2005 |
| Externally published | Yes |
| Event | Canadian Conference on Electrical and Computer Engineering 2005 - Saskatoon, SK, Canada Duration: 1 May 2005 → 4 May 2005 |
Keywords
- Dynamic modeling
- Medical robots
- Parallel manipulators
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Hardware and Architecture