Development of a Flexible Surgical Manipulator with a Variable Curvature Bendable Joint

Quanquan Liu, Xin Zhang, Chunbao Wang, Bo Zhang, Lihong Duan, Wanfeng Shang, Yajing Shen, Zhuohua Lin, Jiaxiang Dong, Daiyun Luo, Weiping Li, Zhengzhi Wu, Xingguang Duan, Masakatsu G. Fujie

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

Abstract

Minimally invasive interventions become popular surgical approaches due to the significant advantages including cosmetic appearance, less blood loss and shorten hospital stay. Robotic assisted minimally invasive surgeries have benefited not only patient on improved surgical performance, but also surgeon on comfortable operation through flexible mechanism. In order to obtain necessary flexibility adopting for different workspace, we developed a new flexible manipulator with a variable curvature bendable joint for surgical intervention. The surgical manipulator consists of an Omni-directional bendable joint, a rigid translational base rod, while their central axes are coincide with each other. The bendable joint is composed of a machined spring, which guarantees a continuous bending motion driven by four tendons with circumferential distribution. The rigid translational base rod is located in the internal channel of the bendable joint, and adjusts the bending curvature of the bending joint by varying the coupling length. The unique design allows the flexible manipulator can quickly adjust the bending curvature of the end effect, which enlarges its surgical application in the workspace of difference volume.

Original languageEnglish
Title of host publication9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages188-191
Number of pages4
ISBN (Electronic)9781728107691
DOIs
Publication statusPublished - 2019 Jul
Event9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019 - Suzhou, China
Duration: 2019 Jul 292019 Aug 2

Publication series

Name9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019

Conference

Conference9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
CountryChina
CitySuzhou
Period19/7/2919/8/2

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Control and Systems Engineering
  • Mechanical Engineering
  • Control and Optimization

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