Compact and lightweight variable stiffness mechanism using elastic band for medical robots

Kenichiro Seto, Kazuo Kiguchi, Jumpei Arata

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

抜粋

Current surgical robots for Minimally Invasive Surgery are generally rigid to achieve tasks with high precision. Therefore, there is a risk of injury to surrounding organs due to unexpected contact (e.g., while the surgical tool is invisible from the endoscopic view). In order to solve this problem, we introduce a Variable Stiffness Mechanism (VSM) that can actively change the joint stiffness of manipulator according to the situation. Although a number of studies have been conducted to provide VSM, it is difficult to implement them for surgical application where compactness and lightweight with a sufficient range of variable stiffness are required for not impeding the surrounding medical staffs and environment. In this study, we propose a new VSM that utilizes large deformation of elastic bands. The proposed mechanism let the stiffness be variable by changing the effective length of the elastic band shaped as a part of ring, minimizing the size and weight of the structure. The preliminary experiments showed the stiffness was successfully changed linearly, although the demonstrated range of stiffness was smaller than the previously presented VSMs. The reason of the limited range of stiffness was identified as the prototype implementation, and found to be further improved in the next research step.

元の言語英語
ホスト出版物のタイトルIEEE International Conference on Robotics and Biomimetics, ROBIO 2019
出版者Institute of Electrical and Electronics Engineers Inc.
ページ1557-1561
ページ数5
ISBN(電子版)9781728163215
DOI
出版物ステータス出版済み - 12 2019
イベント2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, 中国
継続期間: 12 6 201912 8 2019

出版物シリーズ

名前IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

会議

会議2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
中国
Dali
期間12/6/1912/8/19

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Science Applications
  • Hardware and Architecture
  • Mechanical Engineering
  • Control and Optimization

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  • これを引用

    Seto, K., Kiguchi, K., & Arata, J. (2019). Compact and lightweight variable stiffness mechanism using elastic band for medical robots. : IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 1557-1561). [8961835] (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO49542.2019.8961835