A dexterous manipulator for minimally invasive surgery

被引：0

作者：

Minor, M ^{[1
]}

Mukherjee, R ^{[1
]}

机构：

[1] Michigan State Univ, Dept Mech Engn, E Lansing, MI 48824 USA

来源：

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS | 1999年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Presented here is the design of a mechanism for dexterous placement of an end-effector (forceps, scissors, dissectors) during Minimally Invasive Surgery. The mechanism is best suited to function as a manipulator for a surgical robotics system where motion scaling and filtering of surgeon hand movements could be realized in a fashion to improve ergonomics. End-effector degrees of freedom in the form of actuation, bi-directional 180 degrees articulation, and rotation are provided by a compact multi-link structure comprised of gears and gear-links. This structure has been optimized to provide a large dexterous workspace, low backlash, small force magnification, excellent stiffness, load capacity and infinite life durability. These conditions are achieved through selection of link configuration, forceps design, optimal link thicknesses, gear profile design, and high strength steels.

引用

页码：2057 / 2064

页数：8

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