Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application

Quanquan Liu, Yo Kobayashi, Takahiko Noguchi, Elgezua Inko, Yuta Sekiguchi, Bo Zhang, Jing Ye, Kazutaka Toyoda, Makoto Hashizume, Masakatsu G. Fujie

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents a 6-DOF manipulator which consists of four parts, 1-DOF translational joint, two 2-DOF bending joints (segment1 and segment2), and 1-DOF rotational gripper. The manipulator with 'flexible shaft and Double Screw Drive (DSD) mechanism' structure can obtain omni-directional bending motion through rotation of flexible shafts. In the first prototype, the flexible shafts were connected directly with the actuators in the manipulator. Compared with the first prototype, in the second prototype, flexible shafts for power transmission are connected to the base of the manipulator. Universal joints are used for power transmission to realize distal motion. The improvement done with the design of the second prototype reduced the torque necessary to drive the flexible shafts during motion in surgical interventions. Experiment results show that the manipulator has enough range of movement for surgical intervention.

Original languageEnglish
Title of host publicationProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
Pages6261-6264
Number of pages4
DOIs
Publication statusPublished - 2013
Event2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka
Duration: 2013 Jul 32013 Jul 7

Other

Other2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
CityOsaka
Period13/7/313/7/7

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Biomedical Engineering
  • Health Informatics

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  • Cite this

    Liu, Q., Kobayashi, Y., Noguchi, T., Inko, E., Sekiguchi, Y., Zhang, B., Ye, J., Toyoda, K., Hashizume, M., & Fujie, M. G. (2013). Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS (pp. 6261-6264). [6610984] https://doi.org/10.1109/EMBC.2013.6610984