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

*この研究の対応する著者

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトル2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
出版社IEEE Computer Society
ページ117-121
ページ数5
ISBN(電子版)9781728131764
DOI
出版ステータスPublished - 2019 10
イベント15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019 - Beijing, China
継続期間: 2019 10 312019 11 2

出版物シリーズ

名前Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
2019-October
ISSN(印刷版)2162-7568
ISSN(電子版)2162-7576

Conference

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • コンピュータ ビジョンおよびパターン認識
  • 電子工学および電気工学

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