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Feasibility of a Stewart Platform with Fixed Actuators as a Platform for CABG Surgery Device

 

 

Zoran Lazarevic

 

Master’s Thesis

 

Columbia University

Department of Bioengineering

 

October 10, 1997

 

 

 


 

TABLE OF CONTENTS

A. INTRODUCTION

A. 1. Current State of Research

A. 1. 1. Minimally Invasive Coronary Artery Bypass Surgery

A. 1. 2. Robot Assisted Surgery

A. 1. 3. Tracking

B. METHODS

B. 1. Proposed Mechanism

B. 2. Inverse and Forward Kinematics

B. 2. 1. Inverse Kinematics

B. 2. 2. Forward Kinematics

C. RESULTS

C. 1. Choosing Joints for a Stewart Platform with Fixed Actuators

C. 2. Choosing Manipulator Dimensions

C. 3. Effect of Finite Actuator Step Length on Positional Accuracy

C. 4. Practical Considerations

C. 4. 1. Actuators

C. 4. 2. Joints

D. VISION, CONTROL AND TOOLING SUBSYSTEMS

E. CONCLUSION

F. LITERATURE

G. Acknowledgments