Liu Quanquan, Kobayashi Yo, Noguchi Takahiko, Inko Elgezua, Sekiguchi Yuta, Zhang Bo, Ye Jing, Toyoda Kazutaka, Hashizume Makoto, Fujie Masakatsu G
Annu Int Conf IEEE Eng Med Biol Soc. 2013;2013:6261-4. doi: 10.1109/EMBC.2013.6610984.
This paper presents a 6-DOF manipulator which consists of four parts, 1-DOF translational joint, two 2-DOF bending joints (segment1 and segment2), and 1-DOF rotational gripper. The manipulator with "flexible shaft and Double Screw Drive (DSD) mechanism" structure can obtain omni-directional bending motion through rotation of flexible shafts. In the first prototype, the flexible shafts were connected directly with the actuators in the manipulator. Compared with the first prototype, in the second prototype, flexible shafts for power transmission are connected to the base of the manipulator. Universal joints are used for power transmission to realize distal motion. The improvement done with the design of the second prototype reduced the torque necessary to drive the flexible shafts during motion in surgical interventions. Experiment results show that the manipulator has enough range of movement for surgical intervention.
本文介绍了一种六自由度机械手，它由四个部分组成：一个一自由度平移关节、两个二自由度弯曲关节（节段1和节段2）以及一个一自由度旋转夹爪。具有“柔性轴和双螺杆驱动（DSD）机构”结构的机械手能够通过柔性轴的旋转实现全方位弯曲运动。在第一个原型中，柔性轴直接与机械手的执行器相连。与第一个原型相比，在第二个原型中，用于动力传输的柔性轴连接到了机械手的基座。万向节用于动力传输以实现远端运动。第二个原型在设计上所做的改进降低了手术干预过程中驱动柔性轴所需的扭矩。实验结果表明，该机械手具有足够的运动范围用于手术干预。
