Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery

Tzemanaki, A., Fracczak, L., Gillatt, D., Koupparis, A., Melhuish, C., Persad, R., Rowe, E., Pipe, A. G. and Dogramadzi, S. (2016) Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery. In: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, 26-29 June 2016., pp. 55-60 Available from: http://eprints.uwe.ac.uk/28955

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Abstract/Description

While multi-fingered robotic hands have been developed for decades, none has been used for surgical operations. MicroAngelo is an anthropomorphic master-slave system for tele-operated robot-assisted surgery. As part of this system, this paper focuses on its slave instrument, a miniature three-digit hand. The design of the mechanism of such a manipulator poses a challenge due to the required miniaturization and the many active degrees of freedom. As the instrument has a human-centered design, its relation to the human hand is discussed. Two ways of routing its cable-driven mechanism are investigated and the method of deriving the input-output functions that drive the mechanism is presented.

Item Type:Conference or Workshop Item (Speech)
Additional Information:© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Uncontrolled Keywords:minimally invasive surgery, robot-assisted surgery, cable-driven mechanism, robotic instruments, anthropomorphic robot
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:28955
Deposited By: A. Tzemanaki
Deposited On:01 Jun 2016 09:30
Last Modified:29 Jun 2017 17:19

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