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

doi:10.1109/EMBC.2013.6610984

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

Advanced Medical Intiatives

Research output: Contribution to journal › Article › peer-review

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.

Original language	English
Pages (from-to)	6261-6264
Number of pages	4
Journal	Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference
Volume	2013
DOIs	https://doi.org/10.1109/EMBC.2013.6610984
Publication status	Published - Jan 1 2013

All Science Journal Classification (ASJC) codes

Signal Processing
Biomedical Engineering
Computer Vision and Pattern Recognition
Health Informatics

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10.1109/EMBC.2013.6610984

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Liu, Q., Kobayashi, Y., Noguchi, T., Inko, E., Sekiguchi, Y., Zhang, B., Ye, J., Toyoda, K., Hashizume, M., & Fujie, M. G. (2013). Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference, 2013, 6261-6264. https://doi.org/10.1109/EMBC.2013.6610984

Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. / Liu, Quanquan; Kobayashi, Yo; Noguchi, Takahiko et al.
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 journal › Article › peer-review

Liu, Q, Kobayashi, Y, Noguchi, T, Inko, E, Sekiguchi, Y, Zhang, B, Ye, J, Toyoda, K, Hashizume, M & Fujie, MG 2013, 'Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application', 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, pp. 6261-6264. https://doi.org/10.1109/EMBC.2013.6610984

Liu Q, Kobayashi Y, Noguchi T, Inko E, Sekiguchi Y, Zhang B et al. Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference. 2013 Jan 1;2013:6261-6264. doi: 10.1109/EMBC.2013.6610984

Liu, Quanquan ; Kobayashi, Yo ; Noguchi, Takahiko et al. / 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. ",

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AU - Zhang, Bo

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

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