Evolution of robotic arms |
| |
Authors: | Michael E Moran |
| |
Institution: | (1) Medical and Surgical Specialists, 6101 Pine Ridge Road, Naples, FL 34119, USA |
| |
Abstract: | The foundation of surgical robotics is in the development of the robotic arm. This is a thorough review of the literature
on the nature and development of this device with emphasis on surgical applications. We have reviewed the published literature
and classified robotic arms by their application: show, industrial application, medical application, etc. There is a definite
trend in the manufacture of robotic arms toward more dextrous devices, more degrees-of-freedom, and capabilities beyond the
human arm. da Vinci designed the first sophisticated robotic arm in 1495 with four degrees-of-freedom and an analog on-board
controller supplying power and programmability. von Kemplen’s chess-playing automaton left arm was quite sophisticated. Unimate
introduced the first industrial robotic arm in 1961, it has subsequently evolved into the PUMA arm. In 1963 the Rancho arm
was designed; Minsky’s Tentacle arm appeared in 1968, Scheinman’s Stanford arm in 1969, and MIT’s Silver arm in 1974. Aird
became the first cyborg human with a robotic arm in 1993. In 2000 Miguel Nicolalis redefined possible man–machine capacity
in his work on cerebral implantation in owl-monkeys directly interfacing with robotic arms both locally and at a distance.
The robotic arm is the end-effector of robotic systems and currently is the hallmark feature of the da Vinci Surgical System
making its entrance into surgical application. But, despite the potential advantages of this computer-controlled master–slave
system, robotic arms have definite limitations. Ongoing work in robotics has many potential solutions to the drawbacks of
current robotic surgical systems. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|