TY - GEN
T1 - Development of a Flexible Surgical Manipulator with a Variable Curvature Bendable Joint
AU - Liu, Quanquan
AU - Zhang, Xin
AU - Wang, Chunbao
AU - Zhang, Bo
AU - Duan, Lihong
AU - Shang, Wanfeng
AU - Shen, Yajing
AU - Lin, Zhuohua
AU - Dong, Jiaxiang
AU - Luo, Daiyun
AU - Li, Weiping
AU - Wu, Zhengzhi
AU - Duan, Xingguang
AU - Fujie, Masakatsu G.
PY - 2019/7
Y1 - 2019/7
N2 - Minimally invasive interventions become popular surgical approaches due to the significant advantages including cosmetic appearance, less blood loss and shorten hospital stay. Robotic assisted minimally invasive surgeries have benefited not only patient on improved surgical performance, but also surgeon on comfortable operation through flexible mechanism. In order to obtain necessary flexibility adopting for different workspace, we developed a new flexible manipulator with a variable curvature bendable joint for surgical intervention. The surgical manipulator consists of an Omni-directional bendable joint, a rigid translational base rod, while their central axes are coincide with each other. The bendable joint is composed of a machined spring, which guarantees a continuous bending motion driven by four tendons with circumferential distribution. The rigid translational base rod is located in the internal channel of the bendable joint, and adjusts the bending curvature of the bending joint by varying the coupling length. The unique design allows the flexible manipulator can quickly adjust the bending curvature of the end effect, which enlarges its surgical application in the workspace of difference volume.
AB - Minimally invasive interventions become popular surgical approaches due to the significant advantages including cosmetic appearance, less blood loss and shorten hospital stay. Robotic assisted minimally invasive surgeries have benefited not only patient on improved surgical performance, but also surgeon on comfortable operation through flexible mechanism. In order to obtain necessary flexibility adopting for different workspace, we developed a new flexible manipulator with a variable curvature bendable joint for surgical intervention. The surgical manipulator consists of an Omni-directional bendable joint, a rigid translational base rod, while their central axes are coincide with each other. The bendable joint is composed of a machined spring, which guarantees a continuous bending motion driven by four tendons with circumferential distribution. The rigid translational base rod is located in the internal channel of the bendable joint, and adjusts the bending curvature of the bending joint by varying the coupling length. The unique design allows the flexible manipulator can quickly adjust the bending curvature of the end effect, which enlarges its surgical application in the workspace of difference volume.
UR - http://www.scopus.com/inward/record.url?scp=85084313034&partnerID=8YFLogxK
UR - https://www.scopus.com/record/pubmetrics.uri?eid=2-s2.0-85084313034&origin=recordpage
U2 - 10.1109/CYBER46603.2019.9066746
DO - 10.1109/CYBER46603.2019.9066746
M3 - RGC 32 - Refereed conference paper (with host publication)
T3 - IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER
SP - 188
EP - 191
BT - 2019 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems (CYBER)
PB - IEEE
T2 - 9th IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2019
Y2 - 29 July 2019 through 2 August 2019
ER -