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Evaluating the deflection of dexterous continuum manipulators with unevenly distributed compliant joints
Gao AZ(高安柱); Ryan J. Murphy; Liu H(刘浩); Iulian Iordachita; Mehran Armand
作者部门机器人学研究室
会议名称2016 IEEE 38th Annual International Conference of the Engineering in Medicine and Biology Society (EMBC)
会议日期Augest 16-20, 2016
会议地点Orlando, FL, USA
会议录名称2016 IEEE 38th Annual International Conference of the Engineering in Medicine and Biology Society (EMBC)
出版者IEEE
出版地New York
2016
页码5099-5102
收录类别EI ; CPCI(ISTP)
EI收录号20170303247306
WOS记录号WOS:000399823505110
产权排序1
ISSN号1558-4615
ISBN号978-1-4577-0219-8
摘要Dexterous continuum manipulators (DCMs) offer great potential for increasing instrument reach in minimally-invasive surgical procedures. We previously designed and fabricated a tendon driven DCM with a large instrument channel and evenly distributed compliant joints for minimally-invasive skull base surgery and the treatment of osteolysis during hip revision surgery. The evenly distributed compliant joints, in some cases, may limit the reach of the DCM during lesion removal. In this paper, we propose a finite element analysis (FEA) method for optimizing the distribution of the compliant joints based on treatment space requirements determined preoperatively. After performing experiments to validate the FEA results, we investigated the effects of height and cross distance of unevenly distributed compliant joints on tip trajectories and deflection shapes of DCMs. A boundary exploration for skull base surgery was performed to investigate the improvement in the percent of boundary explored by the optimized DCMs with the unevenly distributed compliant joints. Results show the advantage of using DCMs with unevenly distributed joints in reaching the boundary of the lesion. For a typical lesion in the petrous apex during skull base surgery, simulation results indicates that the design of unevenly distributed compliant joints can increase the reach of the DCM accomplishing 71% lesion removal compared with 59% from the DCM with evenly distributed compliant joints.
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/173321/19550
专题机器人学研究室
通讯作者Gao AZ(高安柱)
作者单位1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
2.Research and Engineering Development Department, Johns Hopkins University Applied Physics Laboratory, Laurel, MD, 20723, United States
3.Laboratory for Computational Sensing and Robotics (LCSR), Johns Hopkins University, Baltimore, MD, 21218, United States
推荐引用方式
GB/T 7714
Gao AZ,Ryan J. Murphy,Liu H,et al. Evaluating the deflection of dexterous continuum manipulators with unevenly distributed compliant joints[C]. New York:IEEE,2016:5099-5102.
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