Yue, Longwang, Tee, Kong Fah ORCID: 0000-0003-3202-873X, Liu, Baoguo and Feng, Tengfei (2019) Development of new cable-driven minimally invasive surgical robot. International Journal of Automation and Control, 13 (3). pp. 324-346. ISSN 1740-7516 (Print), 1740-7524 (Online) (doi:https://doi.org/10.1504/IJAAC.2019.098583)

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Abstract

Operation intuitiveness and force feedback are two main problems of MIS robots. In order to solve these problems, a new type of robot-assisted MIS system has been proposed. Focusing on the cable-driven MIS robot, which is a core component of the system, the following steps in developing the underlying theory have been conducted. Firstly, the driving cable layout, motion mapping and symmetrical decoupling structures of all types of MIS robot joints are analyzed. Secondly, the mathematical formulation of the cable-driven layout of each joint based on the crossing number is derived. Finally, as an example of a cable-driven MIS robot, the kinematic analysis of the symmetrical spatial intersecting joints is developed based on D-H method and the crossing number. The results show that the cable driven symmetrical intersecting joints could improve the operation intuitiveness and realize direct force feedback

Item Type:	Article
Uncontrolled Keywords:	Minimally Invasive Surgery (MIS), Robot Design, Intuitive Operation, Cable-driven, Force Feedback, Cross Number, Specula Symmetry Mapping, Central Symmetry Mapping
Subjects:	T Technology > T Technology (General)
Faculty / School / Research Centre / Research Group:	Faculty of Engineering & Science Faculty of Engineering & Science > School of Engineering (ENG)
Last Modified:	29 Apr 2019 13:33
URI:	http://gala.gre.ac.uk/id/eprint/19747

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