Design of a smart 3D-printed wristed robotic surgical instrument with embedded force sensing and modularity
Design of a smart 3D-printed wristed robotic surgical instrument with embedded force sensing and modularity
复制标题
具有嵌入式力传感和模块化功能的智能 3D 打印腕式机器人手术器械的设计
DOI：
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发表时间：
2016
期刊：
影响因子：
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通讯作者：
Guang
中科院分区：
文献类型：
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作者：
C. Seneci;K. Leibrandt;Piyamate Wisanuvej;Jianzhong Shang;A. Darzi;Guang
This paper introduces the design and characterization of a robotic surgical instrument produced mainly with rapid prototyping techniques. Surgical robots have generally complex structures and have therefore an elevated cost. The proposed instrument was designed to incorporate minimal number of components to simplify the assembly process by leveraging the unique strength of rapid prototyping for producing complex, assemble-free components. The modularity, cost-effectiveness and fast manufacturing and assembly features offer the possibility of producing patient or task specific instruments. The proposed robot incorporates an integrated force measurement system, thus allowing the determination of the force exchanged between the instrument and the environment. Detailed experiments were performed to validate the functionality and force sensing capability of the instrument.
