Development of 3-DOF haptic surgical trocar robot using tendon-drive

Kazuki Tanida, Takahiro Mizoguchi, Kouhei Ohnishi

研究成果: Conference contribution

抄録

The most construction of conventional forceps robots developed for minimally invasive surgery are arm robots. Due to its configuration and motor alignment, arm robots are effected by large inertia force. These large inertia force make operators to drive robots difficulty. Therefore, in order to operate easily, the moving parts which are effected from gravity force should be small. Arm robots are made to imitate construction of the human. But since the motion is restricted by trocar in minimally invasive surgery, the arm construction may not be suitable. The one of the best way to move forceps is to drive trocar directly. In proposed mechanism, robots move trocar parts directly to make end effector small. Trocar has 3 degrees in one joint and tendon-drive system can realize multi degrees of freedom in one joint. Thus, tendon-drive is applied in proposed mechanism. Experiments show the validity of proposed method.

本文言語English
ホスト出版物のタイトル2013 IEEE International Conference on Mechatronics, ICM 2013
ページ516-521
ページ数6
DOI
出版ステータスPublished - 2013 7月 1
イベント2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
継続期間: 2013 2月 272013 3月 1

出版物シリーズ

名前2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
国/地域Italy
CityVicenza
Period13/2/2713/3/1

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 機械工学

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