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 proceeding contribution

4 Citations (Scopus)

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 publication6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics
Subtitle of host publicationBioRob 2016
Place of PublicationPiscataway, New Jersey
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages55-60
Number of pages6
ISBN (Electronic)9781509032877
ISBN (Print)9781509032884
DOIs
Publication statusPublished - 2016
Externally publishedYes
Event6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016 - Singapore, Singapore
Duration: 26 Jun 201629 Jun 2016

Publication series

NameProceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
PublisherIEEE
ISSN (Print)2155-1782

Other

Other6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016
CountrySingapore
CitySingapore
Period26/06/1629/06/16

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  • Cite this

    Tzemanaki, A., Fracczak, L., Gillatt, D., Koupparis, A., Melhuish, C., Persad, R., ... Dogramadzi, S. (2016). Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery. In 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics: BioRob 2016 (pp. 55-60). (Proceedings of the IEEE RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics). Piscataway, New Jersey: Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/BIOROB.2016.7523598