Abstract
Transluminal endoscopic surgery has been widely used clinically for minimally invasive surgery (MIS). However, the size and dexterity of manipulators limit the development of this kind of surgical robot. To address this issue, we proposed a compact robotic wrist based on flexible parallel mechanisms with 4 degrees of freedom (DOFs), which is capable of dexterous manipulation in narrow cavity. The robotic wrist has an outer diameter of 4.5 mm with a 2.1mm central tool channel. The kinematic model of the flexible parallel mechanism is established. The dexterity and coordination of the robotic wrist are demonstrated in terms of motion control in narrow and complex cavity, and pepper seed grasping.
This work was supported by the National Key Research and Development Program of China 2022YFB4703000, and the National Natural Science Foundation of China 62003045, and the Beijing Institute of Technology Research Fund Program for Young Scholars.
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Diao, J., Qian, C., Xiao, X., Duan, X., Li, C. (2023). A Flexible Parallel Robotic Wrist Towards Transluminal Endoscopic Surgery. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14269. Springer, Singapore. https://doi.org/10.1007/978-981-99-6489-5_34
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