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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)
作者部门机器人学研究室
会议名称2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期December 3-7, 2016
会议地点Qingdao, China
会议录名称Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
出版者IEEE
出版地New York
2016
页码731-736
收录类别EI ; CPCI(ISTP)
EI收录号20171403534591
WOS记录号WOS:000405724600123
产权排序1
ISBN号978-1-5090-4363-7
关键词Minimally Invasive Surgery Robot Tendon Sheath Actuation Force Propagation Friction
摘要Tendon 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.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19528
专题机器人学研究室
通讯作者Liu H(刘浩)
作者单位1.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
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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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