TY - GEN
T1 - Design and Analysis of a Snake-like Surgical Robot with Continuum Joints
AU - Wang, Teng
AU - Wang, Ziwen
AU - Wu, Guangxin
AU - Lei, Long
AU - Zhao, Baoliang
AU - Zhang, Peng
AU - Shang, Peng
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/12
Y1 - 2020/12
N2 - Minimally Invasive Surgery (MIS) is one of the most successful applications of surgical robots. The surgical robots that have been proposed in the past had problems with stiffness and size. This paper presents a rigid-soft hybrid drive snake-like surgical robot for MIS. The design concept and kinematic analysis of the robot are introduced. The proposed continuum robot has a shoulder joint and an elbow joint with gear articulated configuration and a wrist joint with continuum configuration to meet the requirements of flexibility, appropriate stiffness, and miniaturization. The shoulder and elbow joint can achieve parallel lateral movement using active and passive motion to realize the cooperative operation of two arms and achieve decoupling between the joints. The forward kinematics is analysed and can be directly used for motion control. Preliminary function testing proves that the working space of the continuum robot manipulator meets the operational requirements.
AB - Minimally Invasive Surgery (MIS) is one of the most successful applications of surgical robots. The surgical robots that have been proposed in the past had problems with stiffness and size. This paper presents a rigid-soft hybrid drive snake-like surgical robot for MIS. The design concept and kinematic analysis of the robot are introduced. The proposed continuum robot has a shoulder joint and an elbow joint with gear articulated configuration and a wrist joint with continuum configuration to meet the requirements of flexibility, appropriate stiffness, and miniaturization. The shoulder and elbow joint can achieve parallel lateral movement using active and passive motion to realize the cooperative operation of two arms and achieve decoupling between the joints. The forward kinematics is analysed and can be directly used for motion control. Preliminary function testing proves that the working space of the continuum robot manipulator meets the operational requirements.
UR - http://www.scopus.com/inward/record.url?scp=85092653002&partnerID=8YFLogxK
U2 - 10.1109/ICARM49381.2020.9195343
DO - 10.1109/ICARM49381.2020.9195343
M3 - 会议稿件
AN - SCOPUS:85092653002
T3 - ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
SP - 178
EP - 183
BT - ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 5th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2020
Y2 - 18 December 2020 through 21 December 2020
ER -