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Experience in developing of medical robots-manipulators in BMSTU

Keywords:

G.B. Savrasov – Dr.Sc.(Eng.), Professor, Department of Biomedical Techniques, Bauman Moscow State Technical University
A.F. Batanov – Ph.D. (Eng.), Head of Special Design-Technology Bureau of Applied Robotics, Bauman Moscow State Technical University
A.P. Bashlay – Post-graduate Student, Department of Biomedical Techniques, Designer of Special Design-Technology Bureau of Applied Robotics, Bauman Moscow State Technical University
S.G. Gusarov – Designer of Special Design-Technology Bureau of Applied Robotics, Bauman Moscow State Technical University


The article describes the history of the work on the establishment of medical robots in the BMSTU. The technical characteristics of the various manipulators are given. Talked about the evolution of the control system and increase the number of degrees of freedom of manipulator. Shows some of the applications of surgery robotic complexes based on manipulators.
References:

 

  1. Savrasov G.V. Mediczinskaya robototexnika: Tendenczii, problemy' i osnovny'e princzipy' proektirovaniya // Vestnik MGTU im. N.E'. Baumana «Biomediczinskaya inzheneriya i texnologiya». 1998. S. 35 – 50.
  2. Taylor Russel H., Stoianovici D. Medical Robotics in Computer – Integrated Surgery //IEEE Trans. Robot. Automat. 2003. V. 19. P. 765 – 781.
  3. Peter P. Pott, Hanns – peter Scharf, Marcus L. R. Shwarz Today’s state of the art in surgical robotics // Computer Aided Surgery. 2005. V. 10(2). P. 101 – 132.
  4. Pokrovskij A.V., Savrasov G.V., Novikov Ju.V., Krasavin V.A. Ul'trazvukovaya angioxirurgiya. Kostroma: DiAr. 2004. 320 s.
  5. Patent № 2218191 (RF). E'ndovazal'ny'j mini-robot // G.V. Savrasov, A.V. Pokrovskij i dr.
  6. Patent № 91832 (RF). Dvizhitel' vnutrisosudistogo mikrorobota // O. S. Narajkin, G. V. Savrasov i dr.
  7. Savrasov G.V. Sistemnoe proektirovanie mediczinskoj robototexniki // Biomediczinskaya radioe'lektronika. 2007. № 10. S. 47 –51.
  8. Savrasov G.V., Batanov A.F., Gusarov S.G. Metodika issledovaniya rabochej zony' vnutrisosudisty'x manipulyaczij // Biome­diczinskaya radioe'lektronika. 2008. № 10. S. 52 – 59.

 

June 24, 2020
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