Paper Info
Title
Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery
Abstract
While multi-fingered robotic hands have been developed for decades, none has been used for surgical operations. μAngelo is an anthropomorphic master-slave system for teleoperated robot-assisted surgery. As part of this system, this paper focuses on its slave instrument, a miniature three-digit hand. The design of the mechanism of such a manipulator poses a challenge due to the required miniaturization and the many active degrees of freedom. As the instrument has a human-centered design, its relation to the human hand is discussed. Two ways of routing its cable-driven mechanism are investigated and the method of deriving the input-output functions that drive the mechanism is presented.
Year
DOI
Venue
2016
10.1109/BIOROB.2016.7523598
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
Keywords
Field
DocType
multi-DOF cable-driven mechanism,miniature serial manipulator,robot-assisted minimally invasive surgery,multi-fingered robotic hands,surgical operations,anthropomorphic master-slave system,teleoperated robot-assisted surgery,slave instrument,miniature three-digit hand,miniaturization,human-centered design,human hand,input-output functions
Teleoperation,Robotic hand,Simulation,Manipulator,Control engineering,Serial manipulator,Miniaturization,Engineering,Robot,Surgery
Conference
ISSN
ISBN
Citations 
2155-1782
978-1-5090-3288-4
0
PageRank 
References 
Authors
0.34
0
9
Name
Order
Citations
PageRank
Antonia Tzemanaki141.93
lukasz fracczak210.71
d gillatt310.76
Anthony Koupparis400.34
Chris Melhuish574787.61
Raj Persad621.13
Edward Rowe700.34
Anthony G. Pipe825539.08
Sanja Dogramadzi94316.60