Design and Modeling of a Parallel Shifted-Routing Cable-Driven Continuum Manipulator for Endometrial Regeneration Surgery
文献类型：会议论文
| 作者 | Li JH(李建华)1,3,4,6 ; Zhou YY(周圆圆)1,3,6; Tan JC(谭季春)5; Wang ZD(王志东)2; Liu H(刘浩)1,3,6
|
| 出版日期 | 2020 |
| 会议日期 | October 25-29, 2020 |
| 会议地点 | Las Vegas, NV, USA |
| 页码 | 3178-3183 |
| 英文摘要 | Endometrial regeneration surgery is a new therapy for intrauterine adhesion (IUA). However, existing instruments lacking dexterity and compliance are with difficulty to successfully perform the tasks of generating transplant wounds and transplanting stem cells during endometrial regeneration surgery. This paper presents a novel shifted-routing continuum manipulator which is driven by only two cables but has high dexterity, simple structure and small size. The design of the continuum manipulator with novel actuation strategy is introduced and the manipulator’s kinematic model is also derived. The analysis and simulation imply that shifted-routing strategy improves the dexterity of manipulators under limited actuation numbers and enhances the ability of reaching targets on fundus and corpus of the uterus. Finally, the shifted-routing continuum manipulator is used to reach targets in a planner endometrium model. The experimental results show that the tip of the manipulator can reach all the area of endometrium from proper directions. |
| 产权排序 | 1 |
| 会议录 | 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-7281-6211-9 |
| WOS记录号 | WOS:000714033801071 |
| 源URL | [http://ir.sia.cn/handle/173321/27891]  |
| 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, 110016, China 2.Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, 275-0016, Japan 3.Key Laboratory of Minimally Invasive Surgical Robot, Liaoning Province, Shenyang, 110016, China 4.University of Chinese Academy of Sciences, Beijing 100049, China 5.Obstetrics and Gynecology Department, Assisted Reproduction Center, Shengjing Hospital affiliated to China Medical University, Shenyang, 110016, China 6.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China |
| 推荐引用方式 GB/T 7714 | Li JH,Zhou YY,Tan JC,et al. Design and Modeling of a Parallel Shifted-Routing Cable-Driven Continuum Manipulator for Endometrial Regeneration Surgery[C]. 见:. Las Vegas, NV, USA. October 25-29, 2020. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。