@inproceedings{997fa8a3fbed4dd8a3fbe4b81315d8b1,
title = "Mechanical design of a 4-DOF minimally invasive surgical instrument",
abstract = "In order to meet design requirements in minimally invasive surgery (MIS), it is necessary to conduct basic operations in the narrow working space. Taking a grasper for example, a 4DOF MIS instrument driven by servo motors and transmitted by cables is designed. The design of the end of surgical instrument driven by cables is suitable for long-distance transmission, which improves dexterity of the surgical instrument working in narrow space. The mechanism principle including the wrist, graspers and shaft rolling are described. Kinematic coupling between the wrist and grasper are analyzed. Prototype of the surgical instrument is presented. This instrument prototype can be applied in most MIS operations.",
keywords = "Instrument prototype, Kinematic coupling, Mechanical design, Minimally invasive surgical robot, Surgical instrument",
author = "Kun Li and Jihua Li and Lei Li and Shuai Ji and Xianju Meng and Yili Fu",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 ; Conference date: 06-12-2019 Through 08-12-2019",
year = "2019",
month = dec,
doi = "10.1109/ROBIO49542.2019.8961696",
language = "英语",
series = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "930--935",
booktitle = "IEEE International Conference on Robotics and Biomimetics, ROBIO 2019",
address = "美国",
}