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

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

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

Abstract

While multi-fingered robotic hands have been developed for decades, none has been used for surgical operations. μAngelo is an anthropomorphic master-slave system for teleoperated 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.
Original languageEnglish
Title of host publicationBiomedical Robotics and Biomechatronics (BioRob), 2016 6th IEEE International Conference on
Pages55-60
Number of pages6
DOIs
Publication statusPublished - 28 Jul 2016

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