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A S shape continuum robot with a single actuation structured by NiTi slices
Liu H(刘浩)1,3; Ji, Zhuqing1; Li J(李杰)2,3; Zhou YY(周圆圆)1; Wang, CY(王重阳)3; Ba, Peng1
作者部门机器人学研究室
会议名称2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
会议日期December 5-8, 2017
会议地点Macau, China
会议主办者Beijing Institute of Technology ; City University of Hong Kong ; IEEE Robotics and Automation Society ; Shenzhen Academy of Robotics ; University of Hong Kong ; University of Macau
会议录名称Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
出版者IEEE
出版地New York
2017
页码401-405
收录类别EI
EI收录号20182905561443
产权排序1
ISBN号978-1-5386-3741-8
关键词continuum robot strong rigidity arm tendon drive medical robot
摘要In recent years, the dexterous continuum robots have been widely researched and developed rapidly as their well capability of distal dexterity, the compact structure and the excellent intrinsic compliance with environment. Especially, the continuum robots that could bend to planar S shape are known to have great advantages in contacting target tissues and avoiding the obstacles, which mean significant importance in minimally invasive field. Meanwhile, the rigidity requirement of continuum robots seems especially important during the Minimally Invasive Surgery (MIS). In this paper, we introduced a novel S shape continuum robot with a single actuation structured by NiTi slices, which also contain notches that could pass drive wires of the surgical instrument to achieve surgical requirements. The designed continuum robot could bend to planar S shape as expected, its external diameter is 7mm and length is 57.5mm. The load capacity of distal tip could meet the surgical requirement at maximal deformation, which has been verified by experiments.
语种英语
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/22124
专题机器人学研究室
通讯作者Liu H(刘浩)
作者单位1.Department of Mechanical Engineering, Shenyang Ligong University, China
2.Shenyang Jianzhu University, China
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
推荐引用方式
GB/T 7714
Liu H,Ji, Zhuqing,Li J,et al. A S shape continuum robot with a single actuation structured by NiTi slices[C]//Beijing Institute of Technology, City University of Hong Kong, IEEE Robotics and Automation Society, Shenzhen Academy of Robotics, University of Hong Kong, University of Macau. New York:IEEE,2017:401-405.
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