Compliant four degree-of-freedom manipulator with locally deformable elastic elements for minimally invasive surgery

Jumpei Arata, Yosuke Fujisawa, Ryu Nakadate, Kazuo Kiguchi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume

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

5 引用 (Scopus)

抜粋

Minimally Invasive Surgery (MIS) is one of the most successful applications of surgical robots. Although the introduction of robotic technology has brought a number of benefits, further advancements in MIS are limited by the size and bending radius of instruments. In this paper, we present a compliant four degree-of-freedom manipulator that consists of elastic elements with partly thinner structures. The proposed mechanism allows the elastic element to deform locally, thus minimizing its bending radius while the low number of mechanical parts greatly contributes to its compactness. This paper describes the design strategy, optimization method using FEA, prototype implementation, and evaluations. The evaluations reveal high accuracy and repeat accuracy, which are key elements for robotic instruments in MIS. Further, the prototype is able to exert sufficient force and it is possible to perform a simulated needle insertion task using the manipulator, demonstrating the feasibility of the proposed mechanism.

元の言語英語
ホスト出版物のタイトル2019 International Conference on Robotics and Automation, ICRA 2019
出版者Institute of Electrical and Electronics Engineers Inc.
ページ2663-2669
ページ数7
ISBN(電子版)9781538660263
DOI
出版物ステータス出版済み - 5 2019
イベント2019 International Conference on Robotics and Automation, ICRA 2019 - Montreal, カナダ
継続期間: 5 20 20195 24 2019

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2019-May
ISSN(印刷物)1050-4729

会議

会議2019 International Conference on Robotics and Automation, ICRA 2019
カナダ
Montreal
期間5/20/195/24/19

All Science Journal Classification (ASJC) codes

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

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  • これを引用

    Arata, J., Fujisawa, Y., Nakadate, R., Kiguchi, K., Harada, K., Mitsuishi, M., & Hashizume, M. (2019). Compliant four degree-of-freedom manipulator with locally deformable elastic elements for minimally invasive surgery. : 2019 International Conference on Robotics and Automation, ICRA 2019 (pp. 2663-2669). [8793798] (Proceedings - IEEE International Conference on Robotics and Automation; 巻数 2019-May). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2019.8793798