Mechanical Gravity Canceller with Oscillating Block Slider Crank Mechanism(Mechanical Systems)

Yamada, Yasuyuki; Morita, Takeshi

doi:10.1299/kikaic.76.1797

Cited by 10 publications

(3 citation statements)

References 3 publications

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“…The force shown in Figure 16 is the sclera force during the operation, which is an important safety quantity in eye surgery. Table 2 shows that the average sclera forces are lower or near the safe threshold of 0.12 N 21 . However, the maximum forces are larger than 0.12 N. Note that the elasticity of the 3D printed eye used in this experiment is different from that of a real eye.…”

Section: Discussionmentioning

confidence: 87%

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Eye Explorer: A robotic endoscope holder for eye surgery

Zhou

Kimura

Takeyama

et al. 2020

Robotics Computer Surgery

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Background Holding endoscopes by hand when performing eye surgery reduces the dexterity of the surgeon. Methods A robotic endoscope holder called “Eye Explorer” is proposed to hold the endoscope and free the surgeon's hand. Results This device satisfies the engineering and clinical requirements of eye surgery. The force for manual operation is less than 0.5 N. The observable ranges inside the patient's eye considering horizontal and vertical perspectives are 118° and 97°, and the motion of the holder does not interfere with the surgeon's hand and other surgical devices. The self‐weight compensation can prevent the endoscope from falling when extra supporting force is released. When comparing the external force exerted on the eye by the Eye Explorer with that in case of manual operation, a decrease of more than 15% can be observed. Moreover, the consumption time of endoscope view adjustment using the Eye Explorer and manual operation does not significantly differ. Conclusion The Eye Explorer allows dual‐hand operation, facilitating a successful endoscopic eye surgery.

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Section: Discussionmentioning

confidence: 87%

“…The necessary spring constants of the pull springs were determined based on the principle proposed by Yamada and Morita. 21 Then, we bought the pull‐spring with the determined spring constant and set them on the corresponding positions on the arm unit. Figure 4 also shows the pull‐springs inside the arm unit.…”

Section: Methodsmentioning

confidence: 99%

Eye Explorer: A robotic endoscope holder for eye surgery

Zhou

Kimura

Takeyama

et al. 2020

Robotics Computer Surgery

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“…8 (7) and a zero-length spring without a bending point is used. This mechanism is called the Compression spring Gravity Canceller (CGC) (7) ，and the compensation error of CGC is about ±5% too (7) ．…”

Section: Design Of Spring Constantmentioning

confidence: 99%

Design of Constructing Virtual Gravity for Link Mechanisms

Yamada

Morita

2012

JMTL

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Energy-consuming devices are essential to modern life, but must be made more efficient to meet environmental conservation goals. One of the prime causes of energy loss is gravity. In this paper, we propose a framework to design potential fields for link mechanisms to minimize the amount of gravitational potential energy consumed, besides loss to friction and inertia. The framework allows design of customized potential fields such that any object or link mechanism can be moved along specific trajectories by simply adding a small auxiliary force that just overcomes the losses. We confirm this theory and the effects on mechanisms by kinematic analysis.

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Development of Hydraulic Gravity Canceller with a Booster

Yamada

Morita²

2011

Trans.JSME(C)

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In this paper, we propose a passive gravity compensation mechanism with two cylinders connected pipeline and a spring element, which named "Hydraulic Gravity Canceller (HGC)." From development and experiments of a single link model equipped with the HGC, it is clarified that this new device has many advantages in comparison with the original "Mechanical Gravity Canceller (MGC)"and other passive gravity compensation mechanisms. First, this paper describes the new mechanism generates accurate weight compensation torque as same as the MGC without restrictions of spring arrangement and spring constant, because it consists of Pascal's principle-driven mechanism. Next, it is shown that the new mechanism can be installed into heavy manipulators or carry heavy loads while ensuring high rigidity and safety, since there is no risk for amputation of wire. Finally, the new mechanism can be easily added other functions as well as compensation mechanism by fluid pipeline networks. From there, the HGC is new device succeeds to change basic concepts of weight compensation mechanism.

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Mechanical Gravity Canceller with Oscillating Block Slider Crank Mechanism(Mechanical Systems)

Cited by 10 publications

References 3 publications

Eye Explorer: A robotic endoscope holder for eye surgery

Eye Explorer: A robotic endoscope holder for eye surgery

Design of Constructing Virtual Gravity for Link Mechanisms

Development of Hydraulic Gravity Canceller with a Booster

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