{"title":"一种用于外科手术机器人的激光烧结微型齿轮轮毂及其能传递的最大扭矩","authors":"M. F. Traeger, Daniel B. Roppenecker, T. Lüth","doi":"10.1109/ROBIO.2012.6491110","DOIUrl":null,"url":null,"abstract":"Our goal is to develop a surgical robot for minimally invasive surgery using selective laser sintering (SLS) of the polyamide PA2200. To drive the robot, we need a reliable interface to attach digital servomotors. Therefore we designed and fabricated a gear hub for a digital servomotor with a maximum torque of 24 Ncm. In an experiment we investigated the maximum torque the laser sintered gear hub can transmit with an error probability of 0.05%. The results show that such a gear hub is suitable for the application in the field of surgical robotics. In this paper we also present a simplified geometrical description for the construction of the gear hub and two minimally invasive interventions, which are in the focus of our research project.","PeriodicalId":426468,"journal":{"name":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","volume":"66 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2012-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"A laser sintered miniature gear hub for a surgical robot and the maximum torque it can transmit\",\"authors\":\"M. F. Traeger, Daniel B. Roppenecker, T. Lüth\",\"doi\":\"10.1109/ROBIO.2012.6491110\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Our goal is to develop a surgical robot for minimally invasive surgery using selective laser sintering (SLS) of the polyamide PA2200. To drive the robot, we need a reliable interface to attach digital servomotors. Therefore we designed and fabricated a gear hub for a digital servomotor with a maximum torque of 24 Ncm. In an experiment we investigated the maximum torque the laser sintered gear hub can transmit with an error probability of 0.05%. The results show that such a gear hub is suitable for the application in the field of surgical robotics. In this paper we also present a simplified geometrical description for the construction of the gear hub and two minimally invasive interventions, which are in the focus of our research project.\",\"PeriodicalId\":426468,\"journal\":{\"name\":\"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"volume\":\"66 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2012-12-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBIO.2012.6491110\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2012 IEEE International Conference on Robotics and Biomimetics (ROBIO)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBIO.2012.6491110","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
A laser sintered miniature gear hub for a surgical robot and the maximum torque it can transmit
Our goal is to develop a surgical robot for minimally invasive surgery using selective laser sintering (SLS) of the polyamide PA2200. To drive the robot, we need a reliable interface to attach digital servomotors. Therefore we designed and fabricated a gear hub for a digital servomotor with a maximum torque of 24 Ncm. In an experiment we investigated the maximum torque the laser sintered gear hub can transmit with an error probability of 0.05%. The results show that such a gear hub is suitable for the application in the field of surgical robotics. In this paper we also present a simplified geometrical description for the construction of the gear hub and two minimally invasive interventions, which are in the focus of our research project.
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