Design strategy for a surgical manipulator based on a compliant mechanism: RRigidity and range of motion: Finding the optimized balance

Zongpeng Wu, D. S.V. Bandara, Kazuo Kiguchi, Jumpei Arata

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

抜粋

Compliant mechanisms have drawn the attention recently in developing surgical robotic manipulators for minimally invasive surgery (MIS) owing to their capabilities in making miniaturized, simple, dexterous mechanical structures. Robotically assisted MIS demands instruments with higher precision, higher output force and a higher range of motion (ROM) for better performances. On the other hand, because of the behaviour of the elastic elements, compromising these factors is challenging. In a compliant mechanism, the rigidity of the elastic element determines the precision and output force. In this paper, we study the behaviour of rigidity and the ROM of elastic elements using previously developed surgical robotic forceps based on a compliant mechanism. To tackle this problem, we studied the variation of ROM of the compliant mechanism at different rigidity values of the compliant structure by changing its thickness. The results showed the linear relationship between the ROM and the rigidity of a compliant mechanical manipulator, suggesting the optimized balance point in this trade-off.

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2220-2224
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

    Wu, Z., Bandara, D. S. V., Kiguchi, K., & Arata, J. (2019). Design strategy for a surgical manipulator based on a compliant mechanism: RRigidity and range of motion: Finding the optimized balance. : IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 2220-2224). [8961727] (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO49542.2019.8961727