Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application

Quanquan Liu; Yo Kobayashi; Takahiko Noguchi; Elgezua Inko; Yuta Sekiguchi; Bo Zhang; Jing Ye; Kazutaka Toyoda; Makoto Hashizume; Masakatsu G. Fujie

doi:10.1109/EMBC.2013.6610984

Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application

Quanquan Liu^*, Yo Kobayashi, Takahiko Noguchi, Elgezua Inko, Yuta Sekiguchi, Bo Zhang, Jing Ye, Kazutaka Toyoda, Makoto Hashizume, Masakatsu G. Fujie

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

7 Citations (Scopus)

Abstract

This paper presents a 6-DOF manipulator which consists of four parts, 1-DOF translational joint, two 2-DOF bending joints (segment1 and segment2), and 1-DOF rotational gripper. The manipulator with 'flexible shaft and Double Screw Drive (DSD) mechanism' structure can obtain omni-directional bending motion through rotation of flexible shafts. In the first prototype, the flexible shafts were connected directly with the actuators in the manipulator. Compared with the first prototype, in the second prototype, flexible shafts for power transmission are connected to the base of the manipulator. Universal joints are used for power transmission to realize distal motion. The improvement done with the design of the second prototype reduced the torque necessary to drive the flexible shafts during motion in surgical interventions. Experiment results show that the manipulator has enough range of movement for surgical intervention.

Original language	English
Title of host publication	2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Pages	6261-6264
Number of pages	4
DOIs	https://doi.org/10.1109/EMBC.2013.6610984
Publication status	Published - 2013
Externally published	Yes
Event	2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 - Osaka, Japan Duration: 2013 Jul 3 → 2013 Jul 7

Publication series

Name	Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
ISSN (Print)	1557-170X

Other

Other	2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013
Country/Territory	Japan
City	Osaka
Period	13/7/3 → 13/7/7

ASJC Scopus subject areas

Signal Processing
Biomedical Engineering
Computer Vision and Pattern Recognition
Health Informatics

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10.1109/EMBC.2013.6610984

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Liu, Q., Kobayashi, Y., Noguchi, T., Inko, E., Sekiguchi, Y., Zhang, B., Ye, J., Toyoda, K., Hashizume, M., & Fujie, M. G. (2013). Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. In 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013 (pp. 6261-6264). [6610984] (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). https://doi.org/10.1109/EMBC.2013.6610984

Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. / Liu, Quanquan; Kobayashi, Yo; Noguchi, Takahiko et al.
2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013. 2013. p. 6261-6264 6610984 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Liu, Q, Kobayashi, Y, Noguchi, T, Inko, E, Sekiguchi, Y, Zhang, B, Ye, J, Toyoda, K, Hashizume, M & Fujie, MG 2013, Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. in 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013., 6610984, Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS, pp. 6261-6264, 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013, Osaka, Japan, 13/7/3. https://doi.org/10.1109/EMBC.2013.6610984

Liu Q, Kobayashi Y, Noguchi T, Inko E, Sekiguchi Y, Zhang B et al. Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. In 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013. 2013. p. 6261-6264. 6610984. (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS). doi: 10.1109/EMBC.2013.6610984

Liu, Quanquan ; Kobayashi, Yo ; Noguchi, Takahiko et al. / Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application. 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2013. 2013. pp. 6261-6264 (Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS).

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abstract = "This paper presents a 6-DOF manipulator which consists of four parts, 1-DOF translational joint, two 2-DOF bending joints (segment1 and segment2), and 1-DOF rotational gripper. The manipulator with 'flexible shaft and Double Screw Drive (DSD) mechanism' structure can obtain omni-directional bending motion through rotation of flexible shafts. In the first prototype, the flexible shafts were connected directly with the actuators in the manipulator. Compared with the first prototype, in the second prototype, flexible shafts for power transmission are connected to the base of the manipulator. Universal joints are used for power transmission to realize distal motion. The improvement done with the design of the second prototype reduced the torque necessary to drive the flexible shafts during motion in surgical interventions. Experiment results show that the manipulator has enough range of movement for surgical intervention.",

author = "Quanquan Liu and Yo Kobayashi and Takahiko Noguchi and Elgezua Inko and Yuta Sekiguchi and Bo Zhang and Jing Ye and Kazutaka Toyoda and Makoto Hashizume and Fujie, {Masakatsu G.}",

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AU - Liu, Quanquan

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AU - Sekiguchi, Yuta

AU - Zhang, Bo

AU - Ye, Jing

AU - Toyoda, Kazutaka

AU - Hashizume, Makoto

AU - Fujie, Masakatsu G.

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AB - This paper presents a 6-DOF manipulator which consists of four parts, 1-DOF translational joint, two 2-DOF bending joints (segment1 and segment2), and 1-DOF rotational gripper. The manipulator with 'flexible shaft and Double Screw Drive (DSD) mechanism' structure can obtain omni-directional bending motion through rotation of flexible shafts. In the first prototype, the flexible shafts were connected directly with the actuators in the manipulator. Compared with the first prototype, in the second prototype, flexible shafts for power transmission are connected to the base of the manipulator. Universal joints are used for power transmission to realize distal motion. The improvement done with the design of the second prototype reduced the torque necessary to drive the flexible shafts during motion in surgical interventions. Experiment results show that the manipulator has enough range of movement for surgical intervention.

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Development of a 6-DOF manipulator driven by flexible shaft for minimally invasive surgical application

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