Development of Selective Driving Joint Forceps Using Shape Memory Polymer
Development of Selective Driving Joint Forceps Using Shape Memory Polymer
复制标题
形状记忆聚合物选择性驱动关节钳的研制
DOI：
10.1109/iros45743.2020.9340868
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
K. Kawashima
中科院分区：
文献类型：
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作者：
Katsuhiko Fukushima;T. Kanno;Tetsuro Miyazaki;Toshihiro Kawase;K. Kawashima
在这项研究中，我们开发了一种选择性驱动关节钳（SDJF）的腹腔镜手术。SDJF具有驱动关节可以任意选择的机制，因此每个关节不需要单独的致动器进行操作。开发的SDJF有六个关节，可以只使用四个执行器操作。每个关节具有2个屈曲自由度（DOF）。因此，SDJF与具有六个驱动接头的手术钳具有相同的工作区域（每个接头可绕X和Y轴弯曲±30°）。SDJF的机制是通过用形状记忆聚合物制成的套环固定每个关节来实现的。所提出的机构不仅减少了关节操作所需的致动器的数量，而且具有手术中重要的镊子的刚度。另外，由于钳子的驱动部分由气缸驱动，因此，钳子关节的后驱动性高，重量轻，输出大。我们测量了改变驱动关节所需的加热和冷却时间，动态响应和原型SDJF的刚度。
In this study, we developed a selective driving joint forceps (SDJF) for laparoscopic surgery. The SDJF has a mechanism that the driving joints can be selected arbitrarily, therefore each joint doesn’t require an individual actuator for operating. The developed SDJF has six joints that can be operated using only four actuators. Each joint has 2-degrees-of-freedom (DOF) of flexion. Therefore, the SDJF has the same working area as the forceps having six driving joints (each joints can bend ±30° around the X and Y axes). The mechanism of the SDJF is realized by fixing each joint with a collar made of shape memory polymer. The proposed mechanism not only reduces the number of actuators required for joint operation, but also has the rigidity of the forceps, which is important in surgery. In addition, a driving section of the forceps is driven by pneumatic cylinders, therefore, the forceps joint has high-back-drivability, lightweight and high-output. We measured the heating and cooling time required to change the driving joint, dynamic response and rigidity of the prototype SDJF.
用于深部远程微创手术的超冗余微型机械臂“Hyper Finger”
DOI：
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发表时间：
2003
期刊：
Proceeding of the 2003 IEEE International Conference on Robotics & Automation 1
影响因子：
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作者：
Koji Ikuta;Takahiko Hasegawa;Shinichi Daifu
通讯作者：
Shinichi Daifu