TY - GEN
T1 - Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application
AU - Liu, Quanquan
AU - Kobayashi, Yo
AU - Noguchi, Takahiko
AU - Inko, Elgezua
AU - Sekiguchi, Yuta
AU - Zhang, Bo
AU - Ye, Jing
AU - Toyoda, Kazutaka
AU - Hashizume, Makoto
AU - Fujie, Masakatsu G.
PY - 2013
Y1 - 2013
N2 - 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.
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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U2 - 10.1109/EMBC.2013.6610984
DO - 10.1109/EMBC.2013.6610984
M3 - Conference contribution
C2 - 24111171
AN - SCOPUS:84886477012
SN - 9781457702167
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 6261
EP - 6264
BT - 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
T2 - 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Y2 - 3 July 2013 through 7 July 2013
ER -