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Design and Modeling of a Parallel Shifted-Routing Cable-Driven Continuum Manipulator for Endometrial Regeneration Surgery
Li JH(李建华)1,2,3,4; Zhou YY(周圆圆)1,2,3; Tan JC(谭季春)5; Wang ZD(王志东)6; Liu H(刘浩)1,2,3
Department机器人学研究室
Conference Name2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference DateOctober 25-29, 2020
Conference PlaceLas Vegas, NV, USA
Source Publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
PublisherIEEE
Publication PlaceNew York
2020
Pages3178-3183
Indexed ByEI
EI Accession number20211110063563
Contribution Rank1
ISBN978-1-7281-6211-9
AbstractEndometrial regeneration surgery is a new therapy for intrauterine adhesion (IUA). However, existing instruments lacking dexterity and compliance are with difficulty to successfully perform the tasks of generating transplant wounds and transplanting stem cells during endometrial regeneration surgery. This paper presents a novel shifted-routing continuum manipulator which is driven by only two cables but has high dexterity, simple structure and small size. The design of the continuum manipulator with novel actuation strategy is introduced and the manipulator’s kinematic model is also derived. The analysis and simulation imply that shifted-routing strategy improves the dexterity of manipulators under limited actuation numbers and enhances the ability of reaching targets on fundus and corpus of the uterus. Finally, the shifted-routing continuum manipulator is used to reach targets in a planner endometrium model. The experimental results show that the tip of the manipulator can reach all the area of endometrium from proper directions.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/27891
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
3.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, 110016, China
4.University of Chinese Academy of Sciences, Beijing 100049, China
5.Obstetrics and Gynecology Department, Assisted Reproduction Center, Shengjing Hospital affiliated to China Medical University, Shenyang, 110016, China
6.Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, 275-0016, Japan
Recommended Citation
GB/T 7714
Li JH,Zhou YY,Tan JC,et al. Design and Modeling of a Parallel Shifted-Routing Cable-Driven Continuum Manipulator for Endometrial Regeneration Surgery[C]. New York:IEEE,2020:3178-3183.
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