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Analysis on the Force Propagation of the Tendon-sheath Actuation in Dexterous Surgical Robots
Zhou YY(周圆圆); Liu H(刘浩); Wang ZY(王重阳); Wang ZD(王志东)
Department机器人学研究室
Conference Name2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
Conference DateDecember 3-7, 2016
Conference PlaceQingdao, China
Source PublicationProceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
PublisherIEEE
Publication PlaceNew York
2016
Pages731-736
Indexed ByEI ; CPCI(ISTP)
EI Accession number20171403534591
WOS IDWOS:000405724600123
Contribution Rank1
ISBN978-1-5090-4363-7
KeywordMinimally Invasive Surgery Robot Tendon Sheath Actuation Force Propagation Friction
AbstractTendon sheath actuation is widely used in the minimally invasive surgery (MIS) robotic system, particularly in the single port laparoscopy (SPL) and the natural orifice transluminal endoscopic surgery (NOTES) robots. The force propagation from the proximal end to distal end is the most important characters for the tendon sheath actuation, and the friction is a major problem. In this paper, a classical friction model is presented at first. Some factors like the pulling velocity, the tendon diameter and the sheath curvature, which are not considered in the friction model are analyzed with a series of experiments. The results show that some of these factors also have effect on the friction. A modified friction model is presented to adjust the different tendon diameters.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19528
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province, China
2.University of the Chinese Academy of Sciences, Beijing, China
3.Dept. of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, 275-0016, Japan
Recommended Citation
GB/T 7714
Zhou YY,Liu H,Wang ZY,et al. Analysis on the Force Propagation of the Tendon-sheath Actuation in Dexterous Surgical Robots[C]. New York:IEEE,2016:731-736.
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