Novel block mechanism for rolling joints in minimally invasive surgery

Kim, Jeongryul; Kwon, Seong-il; Kim, Keri

doi:10.1016/j.mechmachtheory.2019.103774

Cited by 7 publications

(2 citation statements)

References 11 publications

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“…Based on gears and constraint links, Hwang et al proposed a novel cable-driven snake-arm robot and validated that there is no slack in the cables when the joint bends to an arbitrary configuration [ 8 ]. Kim et al presented a novel 1-DOF rolling joint with block mechanisms and discussed the effect between passive compliance and cable tension [ 9 ]. Suh et al designed a cable-driven snake-arm robot including rolling joints with elastic fixtures, which improves the stability of the robot [ 10 ].…”

Section: Introductionmentioning

confidence: 99%

Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads

et al. 2022

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Based on the anti-parallelogram mechanism, an approximate cylindrical rolling joint is proposed to develop a novel cable-driven snake-arm robot with multiple degrees of freedom (DOF). Furthermore, the kinematics of the cable-driven snake-arm robot are established, and the mapping between actuator space and joint space is simplified by bending decoupling motion in the multiple segments. The workspace and bending configurations of the robot are obtained. The static model is established by the principle of minimum potential energy. Furthermore, the simplified cable constraints in the static model are proposed through Taylor expansion, which facilitates the equilibrium conformation analysis of the robot under different external forces. The cable-driven snake-arm robot prototype is developed to verify the feasibility of the robot design and the availability of the static model through the experiments of the free bending motion and the external load on the robot.

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Section: Introductionmentioning

confidence: 99%

Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads

et al. 2022

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“…Based on universal joints, Jin et al designed cable-driven snake-like 4-DOF surgical forceps [25]. Kim et al designed a novel rolling joint with a block mechanism to develop a snake-like robot for minimally invasive surgery [26].…”

Section: Introductionmentioning

confidence: 99%

Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints

Huang

Liu

Yin

et al. 2021

Journal of Robotics

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In most of the prior designs of conventional cable-driven hyper-redundant robots, the multiple degree-of-freedom (DOF) bending motion usually has bending coupling effects. It means that the rotation output of each DOF is controlled by multiple pairs of cable inputs. The bending coupling effect will increase the complexity of the driving mechanism and the risk of slack in the driving cables. To address these problems, a novel 2-DOF decoupled joint is proposed by adjusting the axes distribution of the universal joints. Based on the decoupled joint, a 4-DOF hyper-redundant robot with two segments is developed. The kinematic model of the robot is established, and the workspace is analyzed. To simplify the driving mechanism, a kinematic fitting approach is presented for both proximal and distal segments and the mapping between the actuator space and the joint space is significantly simplified. It also leads to the simplification of the driving mechanism and the control system. Furthermore, the cable-driven hyper-redundant robot prototype with multiple decoupled joints is established. The experiments on the robot prototype verify the advantages of the design.

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Accurate estimation of the position and shape of the rolling joint in hyper-redundant manipulators

Kim

Moon

Kwon

et al. 2020

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Novel block mechanism for rolling joints in minimally invasive surgery

Cited by 7 publications

References 11 publications

Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads

Equilibrium Conformation of a Novel Cable-Driven Snake-Arm Robot under External Loads

Design and Validation of a Novel Cable-Driven Hyper-Redundant Robot Based on Decoupled Joints

Accurate estimation of the position and shape of the rolling joint in hyper-redundant manipulators

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