Outer shell type 2 DOF bending manipulator using spring-link mechanism for medical applications

Jumpei Arata, Yoshitaka Saito, Hideo Fujimoto

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

21 Citations (Scopus)

Abstract

In recent years, robotic technology has been introduced to medical fields and many surgical robots have been presented not only in academic fields but also as commercialized products. In this paper, an outer shell type 2 DOF bending manipulator using a spring-link mechanism is presented. The mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-link mechanism is a simple combination of a flat spring and a rigid link with a passive joint connection. The outer shell type 2 DOF bending manipulator is composed by four spring-link mechanisms. The most unique feature of the manipulator is that these four springs are interconnected in the kinematics. Therefore, it is possible to realize a robust and backlash-free motion by taking into account the interconnections of springs such as an internal stress of the structure. In addition, by locating four spring-link mechanisms around the manipulator, it is possible to place medical devices inside of the manipulator.

Original languageEnglish
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages1041-1046
Number of pages6
DOIs
Publication statusPublished - 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
CountryUnited States
CityAnchorage, AK
Period5/3/105/7/10

Fingerprint

Medical applications
Manipulators
Residual stresses
Kinematics
Robotics

All Science Journal Classification (ASJC) codes

  • Software
  • Artificial Intelligence
  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Arata, J., Saito, Y., & Fujimoto, H. (2010). Outer shell type 2 DOF bending manipulator using spring-link mechanism for medical applications. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010 (pp. 1041-1046). [5509705] https://doi.org/10.1109/ROBOT.2010.5509705

Outer shell type 2 DOF bending manipulator using spring-link mechanism for medical applications. / Arata, Jumpei; Saito, Yoshitaka; Fujimoto, Hideo.

2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 1041-1046 5509705.

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

Arata, J, Saito, Y & Fujimoto, H 2010, Outer shell type 2 DOF bending manipulator using spring-link mechanism for medical applications. in 2010 IEEE International Conference on Robotics and Automation, ICRA 2010., 5509705, pp. 1041-1046, 2010 IEEE International Conference on Robotics and Automation, ICRA 2010, Anchorage, AK, United States, 5/3/10. https://doi.org/10.1109/ROBOT.2010.5509705
Arata J, Saito Y, Fujimoto H. Outer shell type 2 DOF bending manipulator using spring-link mechanism for medical applications. In 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. p. 1041-1046. 5509705 https://doi.org/10.1109/ROBOT.2010.5509705
Arata, Jumpei ; Saito, Yoshitaka ; Fujimoto, Hideo. / Outer shell type 2 DOF bending manipulator using spring-link mechanism for medical applications. 2010 IEEE International Conference on Robotics and Automation, ICRA 2010. 2010. pp. 1041-1046
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