Open AccessPneumatically Driven Multi-DOF Surgical Forceps Manipulator with a Bending Joint Mechanism Using Elastic Bodies
Author(s) -
Takikawa Kyouhei,
Ryoken Miyazaki,
Takahiro Kanno,
Gen Endo,
Kenji Kawashima
Publication year - 2016
Publication title -
journal of robotics and mechatronics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.257
H-Index - 19
eISSN - 1883-8049
pISSN - 0915-3942
DOI - 10.20965/jrm.2016.p0559
Subject(s) - forceps , mechanism (biology) , bending , hydraulic cylinder , actuator , surgical robot , pneumatic actuator , pneumatic cylinder , cylinder , manipulator (device) , robot , mechanical engineering , control theory (sociology) , computer science , structural engineering , engineering , simulation , robotic arm , physics , artificial intelligence , surgery , medicine , control (management) , quantum mechanics
[abstFig src='/00280004/13.jpg' width='300' text='Proposed pneumatically driven multi-DOF surgical forceps manipulator' ] In this study, a pneumatically-driven forceps manipulator was developed for a master-slave-type surgical robot. The proposed manipulator had two flexible joints, one for the bending joint at the tip and the other for transmitting a bending force from the actuators to the wires of the forceps. The manipulator had two degree-of-freedoms (DOFs) of bending driven by only two pneumatic cylinders and a gripper driven by a cylinder. Given the interoperability in real surgery, a mechanism was proposed such that the clean forceps part could be easily attached to and detached from the filthy drive unit. An experiment of the master-slave-system was conducted with the proposed manipulator to verify the tracking performance of the cylinders’ position and the bending angle of the forceps manipulator.
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