Compact 4DOF robotic forceps with 3.5 mm in diameter for neurosurgery based on a synthetic elastic structure

Yosuke Fujisawa, Kazuo Kiguchi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume, Jumpei Arata

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

1 Citation (Scopus)

Abstract

In recent years, robotic forceps are widely explored in the field of Robotics using various types of mechanisms. In this paper, we propose compact 4DOF robotic forceps for neurosurgery based on compliant mechanism. A notable feature of proposed robotic forceps is that the springs are largely deformed to transmit and transform the motion, therefore the manipulator's structure can be simple, thus can be miniaturized. We performed a series of Finite Element Analysis and showed that the proposed robotic forceps have sufficient working area and rigidity.

Original languageEnglish
Title of host publicationMHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-3
Number of pages3
ISBN (Electronic)9781538633144
DOIs
Publication statusPublished - Feb 28 2018
Event28th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2017 - Nagoya, Japan
Duration: Dec 3 2017Dec 6 2017

Publication series

NameMHS 2017 - 28th 2017 International Symposium on Micro-NanoMechatronics and Human Science
Volume2018-January

Other

Other28th International Symposium on Micro-NanoMechatronics and Human Science, MHS 2017
CountryJapan
CityNagoya
Period12/3/1712/6/17

All Science Journal Classification (ASJC) codes

  • Biotechnology
  • Biomedical Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering

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