• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>IEEE International Conference on Control and Automation >A Continuum Robot with Contractible and Extensible Length for Neurosurgery?
【24h】

A Continuum Robot with Contractible and Extensible Length for Neurosurgery?

机译：一种连续的机器人，可收缩和可伸缩长度的神经外科？

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Continuum robot is a class of robots renowned for its significant flexibility and manipulability. In recent years, tendon-driven robot, one type of continuum robots, is with compressible and extensible length and bigger working space compared with the non-extensible robot and can travel along the nonlinear spatial curved path. However, existing retractable robots mainly consist of a concentric-like tube, by which it is hard to construct a robot with arbitrary segments, due to the iterative reduction of diameters of multiple tubes and the constraint that diameters of tubes should not be over small to guarantee a necessary stiffness. In this paper, we present a novel tendon-driven continuum robot with extensible length to overcome this shortcoming. The key distinction is that the new design achieves extension based on wire-driven method rather than direct push-pull approach adopted in existing concentric robots. Therefore, continuum robot based on this new design shows higher flexibility and can be with arbitrary segments. Kinematic model of the robot are derived and its workspace is obtained for one and two bending modules. Prototype built demonstrates via experiments the contractible and extensible performance, and the maximal bending angle is measured through experiments. This type of continuum robot may be implemented in therapies for some clinical diseases, like neurosurgery and natural orifice transluminal endoscopic surgery (NOTES).
机译：Continuum Robot是一类以其显着灵活性和可操纵性而闻名的机器人。近年来，肌腱驱动的机器人，一种类型的连续内机器人，与不可伸长机器人相比，具有可压缩和可延长的长度和更大的工作空间，并且可以沿着非线性空间弯曲路径行进。然而，现有的可伸缩机器人主要由同心的管组成，通过该管，其难以构造具有任意段的机器人，这是由于多管的直径的迭代减少和管道直径不应超过小到的约束保证必要的僵硬。在本文中，我们提出了一种具有可伸展长度的新型肌腱驱动的连续机器人，以克服这种缺点。关键区别是新设计基于线驱动方法实现扩展，而不是现有同心机器人采用的直接推拉方法。因此，基于这种新设计的连续机器人显示出更高的灵活性，并且可以具有任意段。导出机器人的运动模型，并且为一个和两个弯曲模块获得其工作空间。原型建设通过实验来证明可收缩和可伸缩的性能，并且通过实验测量最大弯曲角度。这种类型的连续机器人可以在一些临床疾病的疗法中实施，如神经外科和自然孔口分子内窥镜手术（笔记）。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号