Design and Analysis of a Snake-like Surgical Robot with Continuum Joints

Teng Wang, Ziwen Wang, Guangxin Wu, Long Lei, Baoliang Zhao, Peng Zhang, Peng Shang

科研成果: 书/报告/会议事项章节会议稿件同行评审

8 引用 (Scopus)

摘要

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.

源语言英语
主期刊名ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
出版商Institute of Electrical and Electronics Engineers Inc.
178-183
页数6
ISBN(电子版)9781728164793
DOI
出版状态已出版 - 12月 2020
已对外发布
活动5th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2020 - Shenzhen, 中国
期限: 18 12月 202021 12月 2020

出版系列

姓名ICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics

会议

会议5th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2020
国家/地区中国
Shenzhen
时期18/12/2021/12/20

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