Design of a Tendon-Sheath-Driven Robot with Proportional Control for Medical Surgery

Peng Yuan; Xing Song Wang

doi:10.4028/www.scientific.net/AMM.532.218

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vol. 532Design of a Tendon-Sheath-Driven Robot with...

Design of a Tendon-Sheath-Driven Robot with Proportional Control for Medical Surgery

Abstract:

To reduce the trauma to human body in traditional medical surgery and improve the precision of surgical operation, a Tendon-Sheath-Driven robot is designed in this paper. With Tendon-Sheath-Driven mechanism, the robot is composed of head actuator and tailing box. The structure of the head actuator is similar to the tailing box, but much smaller than the later. In the operation process, the head actuator will proportionally cope the motions what operator does, moreover, with sensors installed on each joint of the tailing box, through proportion conversion, doctors can get the parameter variables of each joint on the head actuator easily. Therefore, together with endoscopic, the robot can play an important part in modern medical surgery.

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Periodical:

Applied Mechanics and Materials (Volume 532)

Pages:

218-223

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.532.218

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Online since:

February 2014

Authors:

Peng Yuan, Xing Song Wang*

Keywords:

Proportional Control, Surgery Robot, Tendon-Sheath-Driven

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* - Corresponding Author

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