File Download

There are no files associated with this item.

  Links for fulltext
     (May Require Subscription)
Supplementary

Conference Paper: Motion control of a bio-inspired wire-driven multi-backbone continuum minimally invasive surgical manipulator

TitleMotion control of a bio-inspired wire-driven multi-backbone continuum minimally invasive surgical manipulator
Authors
Issue Date2016
PublisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000856
Citation
2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), Qingdao, China, 3-7 December 2016, p. 1989-1995 How to Cite?
AbstractDue to the reduced trauma and hospitalization time, robot-assisted minimally invasive surgery (MIS) has attracted intense research interest from both engineering and medical communities. This paper hence presents a newly designed bio-inspired wire-driven multi-backbone continuum MIS manipulator. The manipulator consists of two segments, and each segment is composed of a super-elastic backbone and a series of thin disks. Two groups of wires are implemented to actuate each segment by controlling the upward/downward bending and the leftward/rightward bending. Therefore, the system possesses four controllable bending degrees-of-freedom (DoFs) in total, which enhances its flexibility and dexterity significantly. Forward and inverse kinematics of the manipulator is derived, and the corresponding motion control system is developed. To evaluate the performance of the proposed prototype, workspace of the system is firstly provided, then a benchmark trajectory tracking experiment is carried out. Priorities and potential limitations of the design are discussed, including the flexibility, payload capability, and manipulability. And the presented manipulator offers a promising alternative for MIS in future.
DescriptionTuD02: Latest II (Hand & Manipulation) (Regular Sessions)
Persistent Identifierhttp://hdl.handle.net/10722/241701
ISBN

 

DC FieldValueLanguage
dc.contributor.authorQu, T-
dc.contributor.authorChen, J-
dc.contributor.authorShen, S-
dc.contributor.authorXiao, Z-
dc.contributor.authorYue, Z-
dc.contributor.authorLau, HYK-
dc.date.accessioned2017-06-20T01:47:23Z-
dc.date.available2017-06-20T01:47:23Z-
dc.date.issued2016-
dc.identifier.citation2016 IEEE International Conference on Robotics and Biomimetics (ROBIO), Qingdao, China, 3-7 December 2016, p. 1989-1995-
dc.identifier.isbn978-1-5090-4365-1-
dc.identifier.urihttp://hdl.handle.net/10722/241701-
dc.descriptionTuD02: Latest II (Hand & Manipulation) (Regular Sessions)-
dc.description.abstractDue to the reduced trauma and hospitalization time, robot-assisted minimally invasive surgery (MIS) has attracted intense research interest from both engineering and medical communities. This paper hence presents a newly designed bio-inspired wire-driven multi-backbone continuum MIS manipulator. The manipulator consists of two segments, and each segment is composed of a super-elastic backbone and a series of thin disks. Two groups of wires are implemented to actuate each segment by controlling the upward/downward bending and the leftward/rightward bending. Therefore, the system possesses four controllable bending degrees-of-freedom (DoFs) in total, which enhances its flexibility and dexterity significantly. Forward and inverse kinematics of the manipulator is derived, and the corresponding motion control system is developed. To evaluate the performance of the proposed prototype, workspace of the system is firstly provided, then a benchmark trajectory tracking experiment is carried out. Priorities and potential limitations of the design are discussed, including the flexibility, payload capability, and manipulability. And the presented manipulator offers a promising alternative for MIS in future.-
dc.languageeng-
dc.publisherIEEE. The Journal's web site is located at http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000856-
dc.relation.ispartofIEEE International Conference on Robotics and Biomimetics Proceedings-
dc.rightsIEEE International Conference on Robotics and Biomimetics Proceedings. Copyright © IEEE.-
dc.rights©2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.titleMotion control of a bio-inspired wire-driven multi-backbone continuum minimally invasive surgical manipulator-
dc.typeConference_Paper-
dc.identifier.emailQu, T: qtingyu@hku.hk-
dc.identifier.emailXiao, Z: xz199110@hku.hk-
dc.identifier.emailYue, Z: yuezhe@hku.hk-
dc.identifier.emailLau, HYK: hyklau@hkucc.hku.hk-
dc.identifier.authorityLau, HYK=rp00137-
dc.identifier.doi10.1109/ROBIO.2016.7866621-
dc.identifier.hkuros272870-
dc.identifier.spage1989-
dc.identifier.epage1995-
dc.publisher.placeUnited States-

Export via OAI-PMH Interface in XML Formats


OR


Export to Other Non-XML Formats