| 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. |
| 条目包含的文件 | 下载所有文件 | |||||
| 文件名称/大小 | 文献类型 | 版本类型 | 开放类型 | 使用许可 | ||
| A S shape continuum （459KB） | 会议论文 | 开放获取 | CC BY-NC-SA | 浏览 下载 | ||
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。
修改评论