Development of a New Variable Curvature Flexible Joint Based Surgical Manipulator for a Narrow Workspace

Quanquan Liu, Zhengzhi Wu, Weiguang Li, Xingguang Duan, Masakatsu G. Fujie, Chunbao Wang, Xin Zhang, Bo Zhang, Lihong Duan, Jiaxiang Dong, Wanfeng Shang, Haidong Wang, Weiping Li

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

Abstract

Minimally invasive surgical space, especially narrow workspace such as throat and oral cavity, require much higher manipulative dexterity. The existing robotic surgical robots still suffer from the inflexible end effector, the coarse robot volume. In this paper, we propose a new minimally invasive surgical manipulator. It consists of a flexible joint and a fast connect interface. The flexible joint, comprised of an elastic machined spring and a rigid base rod, can achieve Omni-orientational bending movement with a variable curvature through adjusting the coupling length between the elastic machined spring and the rigid base rod. The fast connect interface, enabling a quick connection between the surgical manipulator and the drive house, can improve the operative efficiency on surgery. Kinematics and workspace of the flexible joint is presented, and the preliminary experiments demonstrate the bending reachability of the surgical manipulator under different bending curvature to adapt for narrow workspace.

Original languageEnglish
Title of host publication2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
PublisherIEEE Computer Society
Pages117-121
Number of pages5
ISBN (Electronic)9781728131764
DOIs
Publication statusPublished - 2019 Oct
Event15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, China
Duration: 2019 Oct 312019 Nov 2

Publication series

NameProceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
Volume2019-October
ISSN (Print)2162-7568
ISSN (Electronic)2162-7576

Conference

Conference15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
CountryChina
CityBeijing
Period19/10/3119/11/2

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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