We found a match
Your institution may have rights to this item. Sign in to continue.
- Title
Development of a mechanical decoupling surgical scissors for robot-assisted minimally invasive surgery.
- Authors
Jin, Xingze; Feng, Mei; Han, Zhiwu; Zhao, Ji; Cao, Hankun; Zhang, Yaoyuan
- Abstract
In minimally invasive surgery, surgical instruments with a wrist joint have better flexibility. However, the bending motion of the wrist joint causes a coupling motion between the end-effector and wrist joint, affecting the accuracy of the movement of the surgical instrument. Aiming at this problem, a new gear train decoupling method is proposed in the paper, which can automatically compensate for the coupled motion in real-time. Based on the performance tests of the instrument prototype, a series of decoupling effects tests are carried out. The test results show that the surgical instrument has excellent decoupling ability and stable performance.
- Subjects
MINIMALLY invasive procedures; SURGICAL robots; SURGICAL instruments; WRIST
- Publication
Robotica, 2022, Vol 40, Issue 2, p316
- ISSN
0263-5747
- Publication type
Article
- DOI
10.1017/S0263574721000564