Chapter 1 Introduction
1.1 Motivation of this study
1.2 Organization and contributions
Chapter 2 Literature review
2.1 Master devices in surgical robotic systems
2.2 Design concept
2.3 Performance parameters of the master device
Chapter 3 Kinematics analysis and workspace optimization
3.1 Nomenclatures and coordinate systems
3.2 Two structural designs based on workspace comparison
3.3 Spatial arrangement optimization
3.4 Mechanical design
Chapter 4 Statics analysis
4.1 Instantaneous kinematics
4.2 Maximum of external wrenches in workspace
Chapter 5 Master-slave control system of a surgical robotic system
5.1 A robotic system for transurethral bladder surgeries
5.2 Slave side control system
5.3 Control system implementation and integration
5.4 Framework for state switching and programming
5.5 CANopen communication optimization
Chapter 6 Implementation and experimentation
6.1 Kinematics calibration of the master device
6.2 Calibration of the force/torque outputs
6.3 Integration and performance evaluation
Chapter 7 Conclusions and future work
7.1 Conclusions and contributions
7.2 Future work
参考文献
声明
上海交通大学;
