On servo experiment of a new multi-DOF robotic forceps manipulator for minimally invasive surgery

Author

Ishii, Chiharu ; Kamei, Yusuke

Author_Institution

Sch. of Global Eng., Kogakuin Univ., Hachioji

fYear

2008

fDate

27-29 May 2008

Firstpage

1

Lastpage

6

Abstract

In resent years, many of multi-DOF robotic forceps manipulators for minimally invasive surgery have been proposed. We have developed a new robotic forceps manipulator using the double-screw-drive (DSD) mechanism, which enables omni-directional bending motion by rotating two linkages consisted of right-handed screw, left-handed screw and universal joint. Also we have improved the first prototype DSD forceps manipulator so that its gripper can rotate, so far. This paper presents servo experimental results for the developed second prototype DSD robotic forceps manipulator by teleoperation.

Keywords

manipulators; medical robotics; servomechanisms; surgery; double-screw-drive mechanism; minimally invasive surgery; multiDOF robotic forcep manipulator; omni-directional bending motion; servo experimental result; teleoperation; Couplings; Fasteners; Force control; Grippers; Manipulators; Minimally invasive surgery; Orbital robotics; Robots; Servomechanisms; Wire;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Its Applications, 2008. ISMA 2008. 5th International Symposium on

Conference_Location

Amman

Print_ISBN

978-1-4244-2033-9

Electronic_ISBN

978-1-4244-2034-6

Type

conf

DOI

10.1109/ISMA.2008.4648813

Filename

4648813