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

Jumpei Arata, Yoshitaka Saito, Hideo Fujimoto

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

22 被引用数 (Scopus)

抄録

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.

本文言語英語
ホスト出版物のタイトル2010 IEEE International Conference on Robotics and Automation, ICRA 2010
ページ1041-1046
ページ数6
DOI
出版ステータス出版済み - 8 26 2010
外部発表はい
イベント2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, 米国
継続期間: 5 3 20105 7 2010

出版物シリーズ

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

その他

その他2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country米国
CityAnchorage, AK
Period5/3/105/7/10

All Science Journal Classification (ASJC) codes

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

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