| 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
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| Department | 机器人学研究室 |
| Conference Name | 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 |
| Conference Date | December 5-8, 2017 |
| Conference Place | Macau, China |
| Author of Source | 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 |
| Source Publication | Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics |
| Publisher | IEEE |
| Publication Place | New York |
| 2017 | |
| Pages | 401-405 |
| Indexed By | EI |
| EI Accession number | 20182905561443 |
| Contribution Rank | 1 |
| ISBN | 978-1-5386-3741-8 |
| Keyword | continuum robot strong rigidity arm tendon drive medical robot |
| Abstract | 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. |
| Language | 英语 |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/22124 |
| Collection | 机器人学研究室 |
| Corresponding Author | Liu H(刘浩) |
| Affiliation | 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 |
| 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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| A S shape continuum （459KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Download | ||
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