Open AccessDesign and Kinematics Analysis of a Continuum Throat Surgery Robot
Author(s) -
Weili Peng,
Y N Zhang,
Linyong Shen,
Jinwu Qian
Publication year - 2020
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/1487/1/012044
Subject(s) - robot , kinematics , flexibility (engineering) , articulated robot , simulation , engineering , computer science , robot kinematics , artificial intelligence , mobile robot , physics , mathematics , statistics , classical mechanics
A cable-driven continuum throat surgery robot is designed in this paper, which is a new type of bionic robot with softness and flexibility. Throat surgery robot in the market has the disadvantage of large-scale wound and discomfort, robot in this can solve these problem. Firstly, the joint of the robot is modularized by simulating the skeleton of the snake, and the modules are connected by spherical joints to simulate the high flexibility of the snake. Secondly, each part of the robot is controlled by three cables to control the bending motion in the pitch and yaw directions. Lastly, the kinematics analysis is carried out by the D-H method, including the mapping of the driving space, joint space and operation space of the joint module. According to the entity we make, it is approved that the robot has the advantages of small structural size, high positioning accuracy, and strong space flexibility for that the structure of the snake robot is integrated with the drive of the continuous robot. It is ideal for transoral throat surgery, and the operation is performed through the natural cavity to ensure the accuracy and safety of the operation, and the postoperative recovery is also faster.