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基于磁力耦合一次性机器人手术工具设计与应用.pdfVIP

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基于磁力耦合一次性机器人手术工具设计与应用.pdf

    2017IEEEInternationalConferenceonRoboticsandAutomation(ICRA)

    Singapore,May29-June3,2017

    MagNex-Expendableroboticsurgicaltooltip

    KarthikChandrasekaran,AkhilSathuluriandAsokanThondiyath

    —ThispaperpresentsthedesignofasingleuseFormakingasurgicaltoolmodular,effortshavebeen

    disposablecompliantsurgicaltooltipforatele-operatedsurgicalmadeindesigningpluggableorreceableendeffectors.

    robot.Theproposeddesignaimsatmitiingbio-foulingofOnesuchdesignfeaturesascrewforconnectingtothetool

    surgicaltools.Byimplementingamonolithicdesignforsurgical[8]andanotherdesignusesaspringlatchtoconnecttothe

    tooltip,thecleaningandsterilizationprocessesneededaftertoolshaft[9].Designsalsoexistwithreceabletooltipwith

    everysurgeryfortraditionalsurgicalrobotictoolsiscauterizingcapability[10].Thoughsuchdesignsprovide

    considerablysimplified.Theproposeddesignhas3degreesofmodularitybychangingonlythesurgicalgraspers,the

    (DOF)withamodifiedserpentinejointforenhancedproblemofbiofoulingisstillnoteliminatedasthecouplingis

    bucklingstrengthandoff-axisstiffness.Aicforcebasedstillexposedtobodilyfluids.Asurgicaltoolshaftwitha

    couplingisproposedasameansoftransferringpowerthroughconventionaltetherdrivecanbeprovidedwithamechanical

    ahermeticbarriertomaneuverthetooltip.Thetooltipisthussealfore

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