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

11 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2019 International Conference on Robotics and Automation, ICRA 2019
出版社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(印刷版)1050-4729

会議

会議2019 International Conference on Robotics and Automation, ICRA 2019
国/地域カナダ
CityMontreal
Period5/20/195/24/19

All Science Journal Classification (ASJC) codes

  • ソフトウェア
  • 制御およびシステム工学
  • 人工知能
  • 電子工学および電気工学

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