A S shape continuum robot with a single actuation structured by NiTi slices
文献类型：会议论文
| 作者 | Ba, Peng2; Liu H(刘浩)1,2 ; Ji, Zhuqing2; Li J(李杰)1,3; Zhou YY(周圆圆)2; Wang, CY(王重阳)1
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| 出版日期 | 2017 |
| 会议日期 | December 5-8, 2017 |
| 会议地点 | Macau, China |
| 关键词 | continuum robot strong rigidity arm tendon drive medical robot |
| 页码 | 401-405 |
| 英文摘要 | In recent years, the dexterous continuum robots have been widely researched and developed rapidly as their well capability of distal dexterity, the compact structure and the excellent intrinsic compliance with environment. Especially, the continuum robots that could bend to planar S shape are known to have great advantages in contacting target tissues and avoiding the obstacles, which mean significant importance in minimally invasive field. Meanwhile, the rigidity requirement of continuum robots seems especially important during the Minimally Invasive Surgery (MIS). In this paper, we introduced a novel S shape continuum robot with a single actuation structured by NiTi slices, which also contain notches that could pass drive wires of the surgical instrument to achieve surgical requirements. The designed continuum robot could bend to planar S shape as expected, its external diameter is 7mm and length is 57.5mm. The load capacity of distal tip could meet the surgical requirement at maximal deformation, which has been verified by experiments. |
| 源文献作者 | Beijing Institute of Technology ; City University of Hong Kong ; IEEE Robotics and Automation Society ; Shenzhen Academy of Robotics ; University of Hong Kong ; University of Macau |
| 产权排序 | 1 |
| 会议录 | Proceedings of the 2017 IEEE International Conference on Robotics and Biomimetics
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5386-3741-8 |
| 源URL | [http://119.78.100.139/handle/173321/22124]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 通讯作者 | Liu H(刘浩) |
| 作者单位 | 1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China 2.Department of Mechanical Engineering, Shenyang Ligong University, China 3.Shenyang Jianzhu University, China |
| 推荐引用方式 GB/T 7714 | Ba, Peng,Liu H,Ji, Zhuqing,et al. A S shape continuum robot with a single actuation structured by NiTi slices[C]. 见:. Macau, China. December 5-8, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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