6-DOF Manipulator-based Novel Type of Biomedical Support System

摘要

In the medical field and in industry application, a novel type of biomedical support system has urgently been demanded. We attempt to discover the unaware shakes rule of hand, to build the shakes database about the manipulator, based on which we can carry out the 6-axis robot arm to compensate the operation error caused by the shakes of manipulator's hand. In this paper, it's just the beginning and the aware shakes stimulated from outer body are only discussed. By the comparison between two kinds of the different instance, in which there is no the robot attending the manipulation and there is the robot attending it, we attempt to find out the aware shakes rule of hand, to teach the whole support system have the ability of how to support the manipulation by itself. Also, it's the important reference to discover the unaware shakes rule of hand. The experimental results indicate that the proposed biomedical support system can be used for medical application, and it can improve the operability of microsurgery