Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application

Quanquan Liu, Yo Kobayashi, Takahiko Noguchi, Elgezua Inko, Yuta Sekiguchi, Bo Zhang, Jing Ye, Kazutaka Toyoda, Makoto Hashizume, Masakatsu G. Fujie

Research output: Contribution to journalArticle

Abstract

This paper presents a 6-DOF manipulator which consists of four parts, 1-DOF translational joint, two 2-DOF bending joints (segment1 and segment2), and 1-DOF rotational gripper. The manipulator with "flexible shaft and Double Screw Drive (DSD) mechanism" structure can obtain omni-directional bending motion through rotation of flexible shafts. In the first prototype, the flexible shafts were connected directly with the actuators in the manipulator. Compared with the first prototype, in the second prototype, flexible shafts for power transmission are connected to the base of the manipulator. Universal joints are used for power transmission to realize distal motion. The improvement done with the design of the second prototype reduced the torque necessary to drive the flexible shafts during motion in surgical interventions. Experiment results show that the manipulator has enough range of movement for surgical intervention.

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Manipulators
Joints
Power transmission
Torque
Universal joints
Shafts (machine components)
Grippers
Actuators
Experiments

All Science Journal Classification (ASJC) codes

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

Cite this

Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. / Liu, Quanquan; Kobayashi, Yo; Noguchi, Takahiko; Inko, Elgezua; Sekiguchi, Yuta; Zhang, Bo; Ye, Jing; Toyoda, Kazutaka; Hashizume, Makoto; Fujie, Masakatsu G.

In: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, Vol. 2013, 01.01.2013, p. 6261-6264.

Research output: Contribution to journalArticle

Liu, Quanquan ; Kobayashi, Yo ; Noguchi, Takahiko ; Inko, Elgezua ; Sekiguchi, Yuta ; Zhang, Bo ; Ye, Jing ; Toyoda, Kazutaka ; Hashizume, Makoto ; Fujie, Masakatsu G. / Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. In: Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference. 2013 ; Vol. 2013. pp. 6261-6264.
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abstract = "This paper presents a 6-DOF manipulator which consists of four parts, 1-DOF translational joint, two 2-DOF bending joints (segment1 and segment2), and 1-DOF rotational gripper. The manipulator with {"}flexible shaft and Double Screw Drive (DSD) mechanism{"} structure can obtain omni-directional bending motion through rotation of flexible shafts. In the first prototype, the flexible shafts were connected directly with the actuators in the manipulator. Compared with the first prototype, in the second prototype, flexible shafts for power transmission are connected to the base of the manipulator. Universal joints are used for power transmission to realize distal motion. The improvement done with the design of the second prototype reduced the torque necessary to drive the flexible shafts during motion in surgical interventions. Experiment results show that the manipulator has enough range of movement for surgical intervention.",
author = "Quanquan Liu and Yo Kobayashi and Takahiko Noguchi and Elgezua Inko and Yuta Sekiguchi and Bo Zhang and Jing Ye and Kazutaka Toyoda and Makoto Hashizume and Fujie, {Masakatsu G.}",
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AU - Zhang, Bo

AU - Ye, Jing

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AB - This paper presents a 6-DOF manipulator which consists of four parts, 1-DOF translational joint, two 2-DOF bending joints (segment1 and segment2), and 1-DOF rotational gripper. The manipulator with "flexible shaft and Double Screw Drive (DSD) mechanism" structure can obtain omni-directional bending motion through rotation of flexible shafts. In the first prototype, the flexible shafts were connected directly with the actuators in the manipulator. Compared with the first prototype, in the second prototype, flexible shafts for power transmission are connected to the base of the manipulator. Universal joints are used for power transmission to realize distal motion. The improvement done with the design of the second prototype reduced the torque necessary to drive the flexible shafts during motion in surgical interventions. Experiment results show that the manipulator has enough range of movement for surgical intervention.

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