{"title":"一种新型微创手术用多自由度机器人钳式机械手的伺服实验","authors":"C. Ishii, Y. Kamei","doi":"10.1109/ISMA.2008.4648813","DOIUrl":null,"url":null,"abstract":"In resent years, many of multi-DOF robotic forceps manipulators for minimally invasive surgery have been proposed. We have developed a new robotic forceps manipulator using the double-screw-drive (DSD) mechanism, which enables omni-directional bending motion by rotating two linkages consisted of right-handed screw, left-handed screw and universal joint. Also we have improved the first prototype DSD forceps manipulator so that its gripper can rotate, so far. This paper presents servo experimental results for the developed second prototype DSD robotic forceps manipulator by teleoperation.","PeriodicalId":350202,"journal":{"name":"2008 5th International Symposium on Mechatronics and Its Applications","volume":"5 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2008-05-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"2","resultStr":"{\"title\":\"On servo experiment of a new multi-DOF robotic forceps manipulator for minimally invasive surgery\",\"authors\":\"C. Ishii, Y. Kamei\",\"doi\":\"10.1109/ISMA.2008.4648813\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In resent years, many of multi-DOF robotic forceps manipulators for minimally invasive surgery have been proposed. We have developed a new robotic forceps manipulator using the double-screw-drive (DSD) mechanism, which enables omni-directional bending motion by rotating two linkages consisted of right-handed screw, left-handed screw and universal joint. Also we have improved the first prototype DSD forceps manipulator so that its gripper can rotate, so far. This paper presents servo experimental results for the developed second prototype DSD robotic forceps manipulator by teleoperation.\",\"PeriodicalId\":350202,\"journal\":{\"name\":\"2008 5th International Symposium on Mechatronics and Its Applications\",\"volume\":\"5 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2008-05-27\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"2\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2008 5th International Symposium on Mechatronics and Its Applications\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ISMA.2008.4648813\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2008 5th International Symposium on Mechatronics and Its Applications","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ISMA.2008.4648813","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
On servo experiment of a new multi-DOF robotic forceps manipulator for minimally invasive surgery
In resent years, many of multi-DOF robotic forceps manipulators for minimally invasive surgery have been proposed. We have developed a new robotic forceps manipulator using the double-screw-drive (DSD) mechanism, which enables omni-directional bending motion by rotating two linkages consisted of right-handed screw, left-handed screw and universal joint. Also we have improved the first prototype DSD forceps manipulator so that its gripper can rotate, so far. This paper presents servo experimental results for the developed second prototype DSD robotic forceps manipulator by teleoperation.
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