Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery

Tzemanaki, Antonia; Fracczak, Lukasz; Gillatt, David; Koupparis, Anthony; Melhuish, Chris; Persad, Raj; Rowe, Edward; Pipe, Anthony G.; Dogramadzi, Sanja

Abstract

While multi-fingered robotic hands have been developed for decades, none has been used for surgical operations. MicroAngelo is an anthropomorphic master-slave system for tele-operated robot-assisted surgery. As part of this system, this paper focuses on its slave instrument, a miniature three-digit hand. The design of the mechanism of such a manipulator poses a challenge due to the required miniaturization and the many active degrees of freedom. As the instrument has a human-centered design, its relation to the human hand is discussed. Two ways of routing its cable-driven mechanism are investigated and the method of deriving the input-output functions that drive the mechanism is presented.

Citation

Tzemanaki, A., Fracczak, L., Gillatt, D., Koupparis, A., Melhuish, C., Persad, R., …Dogramadzi, S. (2016, June). Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery. Presented at International Conference on Biomedical Robotics and Biomechatronics, Singapore

• Presentation Conference Type: Speech
• Conference Name: International Conference on Biomedical Robotics and Biomechatronics
• Conference Location: Singapore
• Start Date: Jun 26, 2016
• End Date: Jun 29, 2016
• Acceptance Date: Apr 30, 2016
• Publication Date: Jan 1, 2016
• Deposit Date: Jun 1, 2016
• Publicly Available Date: Aug 3, 2016
• Peer Reviewed: Peer Reviewed
• Pages: 55-60
• Keywords: minimally invasive surgery, robot-assisted surgery, cable-driven mechanism, robotic instruments, anthropomorphic robot
• Public URL: https://uwe-repository.worktribe.com/output/924048
• Publisher URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7523598
• Additional Information: Additional Information : © 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.; Title of Conference or Conference Proceedings : 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)