Development of new cable-driven minimally invasive surgical robot
by Longwang Yue; Kong Fah Tee; Baoguo Liu; Tengfei Feng
International Journal of Automation and Control (IJAAC), Vol. 13, No. 3, 2019

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 analysed. 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 kinematics 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 realise direct force feedback.

Online publication date: Thu, 28-Mar-2019

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Automation and Control (IJAAC):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com