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: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

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 languageEnglish
Title of host publication2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Pages6261-6264
Number of pages4
DOIs
Publication statusPublished - Oct 31 2013
Event2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka, Japan
Duration: Jul 3 2013Jul 7 2013

Publication series

NameProceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)1557-170X

Other

Other2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
CountryJapan
CityOsaka
Period7/3/137/7/13

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All Science Journal Classification (ASJC) codes

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

Cite this

Liu, Q., Kobayashi, Y., Noguchi, T., Inko, E., Sekiguchi, Y., Zhang, B., ... Fujie, M. G. (2013). Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. In 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 (pp. 6261-6264). [6610984] (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). https://doi.org/10.1109/EMBC.2013.6610984