TY - GEN
T1 - Development of a New Variable Curvature Flexible Joint Based Surgical Manipulator for a Narrow Workspace
AU - Liu, Quanquan
AU - Wu, Zhengzhi
AU - Li, Weiguang
AU - Duan, Xingguang
AU - Fujie, Masakatsu G.
AU - Wang, Chunbao
AU - Zhang, Xin
AU - Zhang, Bo
AU - Duan, Lihong
AU - Dong, Jiaxiang
AU - Shang, Wanfeng
AU - Wang, Haidong
AU - Li, Weiping
N1 - Funding Information:
This work was supported in part by National Natural Science Foundation of China (No.61703282, No.61963007), in part by National Natural Science Foundation of China and Shenzhen Robot Research Program (No.U1613221), in part by Research Foundation of Beijing Advanced Innovation Center for Intelligent Robots and Systems(No. 2018IRS08, 2018IRS07), in part by Technology Research Foundation of Basic Research Project of Shenzhen (No. JCYJ20170413095245139, No.JCYJ20160428110354308), Research Foundation of Health and Family Planning Commission of Shenzhen Municipality (No.SZBC2017006). 1. The First Affiliated Hospital of Shenzhen University, Shenzhen, China 2. Shenzhen Institute of Geriatrics, Shenzhen, China 3. Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China 4. Shenzhen Dapeng New District Nan’ao People’s Hospital, China 5. Faculty of Engineering, Waseda University, Tokyo, Japan 6. The School of Mechanical and Automotive Engineering, South China University of Technology, China Correspondence to: C. Wang, Z. Wu, E-mail address: (chunbaowang, szwzz001)@163.com.
Publisher Copyright:
© 2019 IEEE.
PY - 2019/10
Y1 - 2019/10
N2 - Minimally invasive surgical space, especially narrow workspace such as throat and oral cavity, require much higher manipulative dexterity. The existing robotic surgical robots still suffer from the inflexible end effector, the coarse robot volume. In this paper, we propose a new minimally invasive surgical manipulator. It consists of a flexible joint and a fast connect interface. The flexible joint, comprised of an elastic machined spring and a rigid base rod, can achieve Omni-orientational bending movement with a variable curvature through adjusting the coupling length between the elastic machined spring and the rigid base rod. The fast connect interface, enabling a quick connection between the surgical manipulator and the drive house, can improve the operative efficiency on surgery. Kinematics and workspace of the flexible joint is presented, and the preliminary experiments demonstrate the bending reachability of the surgical manipulator under different bending curvature to adapt for narrow workspace.
AB - Minimally invasive surgical space, especially narrow workspace such as throat and oral cavity, require much higher manipulative dexterity. The existing robotic surgical robots still suffer from the inflexible end effector, the coarse robot volume. In this paper, we propose a new minimally invasive surgical manipulator. It consists of a flexible joint and a fast connect interface. The flexible joint, comprised of an elastic machined spring and a rigid base rod, can achieve Omni-orientational bending movement with a variable curvature through adjusting the coupling length between the elastic machined spring and the rigid base rod. The fast connect interface, enabling a quick connection between the surgical manipulator and the drive house, can improve the operative efficiency on surgery. Kinematics and workspace of the flexible joint is presented, and the preliminary experiments demonstrate the bending reachability of the surgical manipulator under different bending curvature to adapt for narrow workspace.
UR - http://www.scopus.com/inward/record.url?scp=85078332900&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85078332900&partnerID=8YFLogxK
U2 - 10.1109/ARSO46408.2019.8948754
DO - 10.1109/ARSO46408.2019.8948754
M3 - Conference contribution
AN - SCOPUS:85078332900
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 117
EP - 121
BT - 2019 IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
PB - IEEE Computer Society
T2 - 15th IEEE International Conference on Advanced Robotics and its Social Impacts, ARSO 2019
Y2 - 31 October 2019 through 2 November 2019
ER -