Technical Briefs

Decoupled Cable-Driven Grasper Design Based on Planetary Gear Theory

[+] Author and Article Information
Carl A. Nelson

Dept. of Mechanical and Materials Engineering,
University of Nebraska-Lincoln

Manuscript received March 15, 2013; final manuscript received April 25, 2013; published online June 12, 2013. Editor: Arthur G. Erdman.

J. Med. Devices 7(2), 020918 (Jun 12, 2013) (3 pages) Paper No: MED-13-1062; doi: 10.1115/1.4024329 History: Received March 15, 2013; Revised April 25, 2013

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Intuitive Surgical, 2012, “EndoWrist Instruments,” Instruments,” http://www.intuitivesurgical.com/products/instruments
Nishizawa, K., et al. ., 2004, “Development of Interference-Free Wire-Driven Joint Mechanism for Surgical Manipulator Systems,” Journal of Robotics and Mechatronics, 16(2), pp. 116–121.
Ohmet al. ., 1998, “Decoupled Six Degree-of-Freedom Teleoperated Robot System,” U.S. Patent No. 5784542.
Nelson, C. A., and Zhang, X., “Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator,” ASME IDETC 2010, Montréal, Québec, Canada, August 15−18, 2010, ASME Paper No. DETC2010–28367.


Grahic Jump Location
Fig. 4

Cable-pulley system equivalent to gear set (carrier removed for clarity)

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Fig. 5

Front view of design

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Fig. 3

Cables driving one jaw

Grahic Jump Location
Fig. 2

A decoupled cable-driven grasper tip

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Fig. 1

Coupling between yaw joint and grasp joint

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Fig. 6

Driving mechanism of gear 2 (carrier removed for clarity)

Grahic Jump Location
Fig. 7

The mechanism giving ω1 = -ωH




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