Design strategy for a surgical manipulator based on a compliant mechanism: RRigidity and range of motion: Finding the optimized balance

Zongpeng Wu, D. S.V. Bandara, Kazuo Kiguchi, Jumpei Arata

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

Abstract

Compliant mechanisms have drawn the attention recently in developing surgical robotic manipulators for minimally invasive surgery (MIS) owing to their capabilities in making miniaturized, simple, dexterous mechanical structures. Robotically assisted MIS demands instruments with higher precision, higher output force and a higher range of motion (ROM) for better performances. On the other hand, because of the behaviour of the elastic elements, compromising these factors is challenging. In a compliant mechanism, the rigidity of the elastic element determines the precision and output force. In this paper, we study the behaviour of rigidity and the ROM of elastic elements using previously developed surgical robotic forceps based on a compliant mechanism. To tackle this problem, we studied the variation of ROM of the compliant mechanism at different rigidity values of the compliant structure by changing its thickness. The results showed the linear relationship between the ROM and the rigidity of a compliant mechanical manipulator, suggesting the optimized balance point in this trade-off.

Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2220-2224
Number of pages5
ISBN (Electronic)9781728163215
DOIs
Publication statusPublished - Dec 2019
Event2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China
Duration: Dec 6 2019Dec 8 2019

Publication series

NameIEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
CountryChina
CityDali
Period12/6/1912/8/19

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Hardware and Architecture
  • Mechanical Engineering
  • Control and Optimization

Fingerprint Dive into the research topics of 'Design strategy for a surgical manipulator based on a compliant mechanism: RRigidity and range of motion: Finding the optimized balance'. Together they form a unique fingerprint.

  • Cite this

    Wu, Z., Bandara, D. S. V., Kiguchi, K., & Arata, J. (2019). Design strategy for a surgical manipulator based on a compliant mechanism: RRigidity and range of motion: Finding the optimized balance. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 2220-2224). [8961727] (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO49542.2019.8961727