Evaluation of Holding Force on Six-D.o.F Surgical Assist Arm with Sphere Joints and Inner-Outer Cables-Reference-Cited by-同舟云学术

Evaluation of Holding Force on Six-D.o.F Surgical Assist Arm with Sphere Joints and Inner-Outer Cables

Published:2018-05-01 Issue:3 Volume:12 Page:405-412
ISSN:1883-8022
Container-title:International Journal of Automation Technology
language:en
Short-container-title:IJAT

Author:

Yukawa Toshihiro,Sasaki Jun, ,

Abstract

A new type of surgical instrument developed as substitutes for an abdominal retractor for use during surgery is described. The new instrument can increase the efficiency of retraction during surgery. We develop an assistant mechanism which has a six-D.o.F, as high controllability at the tip of the mechanism. The mechanism consists of a serial three-link manipulator whose each joint is composed of a ball joint. The instrument needs to maintain the shape of the relevant body part while maintaining own posture during surgery.

Publisher

Fuji Technology Press Ltd.

Subject

Industrial and Manufacturing Engineering,Mechanical Engineering

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