Abstract
The kinematic design of a medical parallel manipulator used for chest compressions in the process of cardiopulmonary resuscitation (CPR) is presented in this paper. According to the requirements of CPR action from medical viewpoints, a 3-PRS (prismatic-revolute-spherical) parallel manipulator (PM) is designed utilizing an architectural optimization methodology for such applications. The dynamic modeling is performed for the 3-PRS PM by two different approaches of Lagrangian formulation and virtual work principle utilizing a simplification hypothesis. Simulation results verify the accuracy of the derived dynamic equations quantitatively, and demonstrate the rationality of the adopted simplified hypothesis. The research work presented here provides a sound base to develop a new medical manipulator to assist in CPR operation, which is expected to reduce the workload of doctors in rescuing patients significantly.
| Original language | English |
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| Title of host publication | 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO |
| Pages | 693-698 |
| Number of pages | 6 |
| Volume | 2005 |
| Publication status | Published - 1 Dec 2005 |
| Externally published | Yes |
| Event | 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO - Shatin, N.T., China Duration: 5 Jul 2005 → 9 Jul 2005 |
Conference
| Conference | 2005 IEEE International Conference on Robotics and Biomimetics, ROBIO |
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| Country/Territory | China |
| City | Shatin, N.T. |
| Period | 5/07/05 → 9/07/05 |
Keywords
- Cardiopulmonary resuscitation
- Dynamics
- Medical robot
- Parallel manipulators
ASJC Scopus subject areas
- General Engineering