Magnetically-Connected Modular Reconfigurable Mini-Robotic System with Bilateral Isokinematic Mapping and Fast On-Site Assembly towards Minimally Invasive Procedures

Xiao Xiao1,2; Shilei Xu2,3; Changsheng Li2,4; Xiaoyi Gu2,5; Huxin Gao2,5; Max Q.-H. Meng1; Hongliang Ren2,5

10.1109/ICRA48506.2021.9561141

2021-10-18

IEEE International Conference on Robotics and Automation

1050-4729

2577-087X

978-1-7281-9078-5

2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021)

2021-May

1229-1235

2021.5.31-2021.6.4

Xi'an, China

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

This paper presents a modular and reconfigurable mini-robotic system with 5 degrees of freedom (DoFs) towards minimally invasive surgery (MIS). The mini-robotic system consists of two modules, a 2-DoFs rotational end-effector, and a 3-DoFs positioning platform. The 2-DoFs rotational end-effector is based on a spring-spherical joint mechanism, whose rotation is controlled by Bowden-cable. The 3-DoFs positioning platform is based on the linear Delta parallel mechanism. Magnetic spherical joints are adopted to replace the traditional spherical joint. The magnetic joint connections enable fast assembling and disassemble of the end platform and kinematic chains. Different surgical instruments can be installed without changing the driver and control system. A flexible shaft actuates the 3-DoFs positioning platform to arrange the motors away from the manipulator side. Based on these structure characteristics, the 3-DoFs positioning platform's size is dramatically reduced. The outer diameter of the current prototype is 32.5 mm. The single-axis positioning accuracy of the 3-DoFs positioning platform is within -1 mm to 0.85 mm. Three axes tracking experiments are also carried out, with the positioning errors of +/- 1.2 mm for cylindrical curves and -1.5 mm to 2 mm for spherical helix curves. Static and dynamic load capabilities are also tested. Finally, the feasibility of the proposed system is demonstrated.

Shafts Minimally invasive surgery Automation Instruments Conferences Prototypes Kinematics

第一 ; 通讯

英语

CPCI-S ; EI

Chinese University of Hong Kong (CUHK)[4055139,"ZDSYS20200810171800001"] ; Ministry of Science and Technology (MOST) of China["2018YFB1307700","2018YFB1307703"] ; Singapore Academic Research Fund under TAP Grant[R-397-000-350-118]

Automation & Control Systems ; Robotics

Automation & Control Systems ; Robotics

WOS:000765738801050

20220911738399

Degrees of freedom (mechanics) ; Dynamic loads ; Kinematics ; Mechanisms ; Robotic surgery ; Spheres ; Surgical equipment

Structural Design, General:408.1 ; Medicine and Pharmacology:461.6 ; Biomedical Equipment, General:462.1 ; Mechanisms:601.3 ; Robotics:731.5 ; Robot Applications:731.6 ; Mechanics:931.1

人工提交

1.Southern University of Science and Technology
2.National University of Singapore, Singapore, Singapore
3.School of Electrical and Electronic Engineering, Shijiazhuang Tiedao University, Shijiazhuang, China
4.School of Mechatronical Engineering & Beijing Advanced Innovation Center for Intelligent Robots and Systems, Beijing Institute of Technology, Beijing, China
5.NUS (Suzhou) Research Institute (NUSRI), Suzhou, China

Xiao Xiao,Shilei Xu,Changsheng Li,et al. Magnetically-Connected Modular Reconfigurable Mini-Robotic System with Bilateral Isokinematic Mapping and Fast On-Site Assembly towards Minimally Invasive Procedures[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2021:1229-1235.