Name
Title | ||
|---|---|---|
Pneumatically Driven Multi-DOF Surgical Forceps Manipulator with a Bending Joint Mechanism Using Elastic Bodies. |
Abstract | ||
|---|---|---|
In this study, a pneumatically-driven forceps manipulator was developed for a master-slave-type surgical robot. The proposed manipulator had two flexible joints, one for the bending joint at the tip and the other for transmitting a bending force from the actuators to the wires of the forceps. The manipulator had two degree-of-freedoms (DOFs) of bending driven by only two pneumatic cylinders and a gripper driven by a cylinder. Given the interoperability in real surgery, a mechanism was proposed such that the clean forceps part could be easily attached to and detached from the filthy drive unit. An experiment of the master-slave-system was conducted with the proposed manipulator to verify the tracking performance of the cylinders' position and the bending angle of the forceps manipulator. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.20965/jrm.2016.p0559 | JOURNAL OF ROBOTICS AND MECHATRONICS |
Keywords | Field | DocType |
surgical robot,forceps manipulator,flexible mechanism,pneumatic system,wire drive robot | Forceps,Control theory,Computer science,Manipulator,Mechanical engineering,Elasticity (economics),Bending joint | Journal |
Volume | Issue | ISSN |
28 | 4 | 0915-3942 |
Citations | PageRank | References |
0 | 0.34 | 0 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Kyouhei Takikawa | 1 | 0 | 0.34 |
| Ryoken Miyazaki | 2 | 0 | 1.69 |
| Takahiro Kanno | 3 | 14 | 5.83 |
| Gen Endo | 4 | 489 | 53.07 |
| Kenji Kawashima | 5 | 19 | 9.82 |