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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
Department机器人学研究室
Conference Name2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Conference DateDecember 5-8, 2017
Conference PlaceMacau, China
Author of SourceBeijing Institute of Technology ; City University of Hong Kong ; IEEE Robotics and Automation Society ; Shenzhen Academy of Robotics ; University of Hong Kong ; University of Macau
Source PublicationProceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
PublisherIEEE
Publication PlaceNew York
2017
Pages401-405
Indexed ByEI
EI Accession number20182905561443
Contribution Rank1
ISBN978-1-5386-3741-8
Keywordcontinuum robot strong rigidity arm tendon drive medical robot
AbstractIn 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/22124
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.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
Recommended Citation
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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