Analysis on the Force Propagation of the Tendon-sheath Actuation in Dexterous Surgical Robots
文献类型：会议论文
| 作者 | Zhou YY(周圆圆) ; Liu H(刘浩); Wang ZY(王重阳); Wang ZD(王志东)
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| 出版日期 | 2016 |
| 会议名称 | 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016) |
| 会议日期 | December 3-7, 2016 |
| 会议地点 | Qingdao, China |
| 关键词 | Minimally Invasive Surgery Robot Tendon Sheath Actuation Force Propagation Friction |
| 页码 | 731-736 |
| 通讯作者 | 刘浩 |
| 中文摘要 | Tendon sheath actuation is widely used in the minimally invasive surgery (MIS) robotic system, particularly in the single port laparoscopy (SPL) and the natural orifice transluminal endoscopic surgery (NOTES) robots. The force propagation from the proximal end to distal end is the most important characters for the tendon sheath actuation, and the friction is a major problem. In this paper, a classical friction model is presented at first. Some factors like the pulling velocity, the tendon diameter and the sheath curvature, which are not considered in the friction model are analyzed with a series of experiments. The results show that some of these factors also have effect on the friction. A modified friction model is presented to adjust the different tendon diameters. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
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| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5090-4363-7 |
| 源URL | [http://ir.sia.cn/handle/173321/19528]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Zhou YY,Liu H,Wang ZY,et al. Analysis on the Force Propagation of the Tendon-sheath Actuation in Dexterous Surgical Robots[C]. 见:2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016). Qingdao, China. December 3-7, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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