Name
Abstract | ||
|---|---|---|
In minimally invasive surgery (MIS) the aspect of miniaturization is getting more and more demanding. On the other hand, it is also important to assure high stability and large actuation forces at the end effector. Here we present the design and the development of a 1 degree of freedom (DOF) rotational joint, which combines a foldable mechanism and a fluidic actuation system for obtaining force magnification within a slender structure (diameter = 5 mm). The foldable mechanism is composed of identical rigid elements connected each other, which sequentially move away from the joint's axis and ensure an output torque of 0.5 Nm. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/BIOROB.2016.7523648 | 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) |
Keywords | Field | DocType |
minimally invasive surgery,MIS,actuation force,end effector,1 degree of freedom rotational joint,1 DOF rotational joint,foldable mechanism,fluidic actuation system,force magnification | Fluidics,Degrees of freedom (statistics),Torque,Control theory,Robot end effector,Magnification,Engineering,Miniaturization,Robot,Surgery | Conference |
ISSN | ISBN | Citations |
2155-1782 | 978-1-5090-3288-4 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mencattelli, M. | 1 | 0 | 0.68 |
| A. Tonazzini | 2 | 0 | 0.34 |
| I. Martinelli | 3 | 0 | 0.34 |
| M. Menchicchi | 4 | 0 | 0.34 |
| Cesare Stefanini | 5 | 188 | 45.66 |