TY - GEN
T1 - A multi-module soft robotic arm with soft end effector for minimally invasive surgery
AU - Chen, Minghong
AU - Zou, Jiakang
AU - Sun, Jin
AU - Wang, Deshan
AU - Sun, Lining
AU - Jin, Guoqing
N1 - Publisher Copyright:
©2019 IEEE.
PY - 2019/11
Y1 - 2019/11
N2 - Soft robots are designed to interact safely with environment because of its high structural softness! good environmental adapt ability, and strong biocompatibility compared with traditional rigid robots. At present, most of mintaally invasive surgery still rely on traditional robotic surgical tool. However, rigid medical devices are easy to cause secondary damage to the human body. Based on the concept of bionics, a minimally invasive surgical flexible manipulator with multiple degrees of freedom wal designed in this paper. The multi-moduk robotic arm consists of three different units, including: bending unit, twisting unit and extending unit. In addition, the fiber line embedded in each module enhances the stiffness of the manipulator. Two flexible clamps are designed and integrated at the end of the manipulator to provide good performance in actual operation. This work reports the design and manufacturing process of the manipulator" the analysis of the moving workspace, and the experimental test results of the soft robotic arm.
AB - Soft robots are designed to interact safely with environment because of its high structural softness! good environmental adapt ability, and strong biocompatibility compared with traditional rigid robots. At present, most of mintaally invasive surgery still rely on traditional robotic surgical tool. However, rigid medical devices are easy to cause secondary damage to the human body. Based on the concept of bionics, a minimally invasive surgical flexible manipulator with multiple degrees of freedom wal designed in this paper. The multi-moduk robotic arm consists of three different units, including: bending unit, twisting unit and extending unit. In addition, the fiber line embedded in each module enhances the stiffness of the manipulator. Two flexible clamps are designed and integrated at the end of the manipulator to provide good performance in actual operation. This work reports the design and manufacturing process of the manipulator" the analysis of the moving workspace, and the experimental test results of the soft robotic arm.
KW - Fiberreinforced actuation
KW - Fluidic actuation
KW - Minimally invasive surgery
KW - Soft end effectors
KW - Soft robotics
UR - https://www.scopus.com/pages/publications/85081592137
U2 - 10.1109/WCMEIM48965.2019.00097
DO - 10.1109/WCMEIM48965.2019.00097
M3 - 会议稿件
AN - SCOPUS:85081592137
T3 - Proceedings - 2019 2nd World Conference on Mechanical Engineering and Intelligent Manufacturing, WCMEIM 2019
SP - 461
EP - 465
BT - Proceedings - 2019 2nd World Conference on Mechanical Engineering and Intelligent Manufacturing, WCMEIM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2nd World Conference on Mechanical Engineering and Intelligent Manufacturing, WCMEIM 2019
Y2 - 22 November 2019 through 24 November 2019
ER -