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Technical Brief

Design of a Novel Cable-Driven Joint for Laparoscopic Instruments1

[+] Author and Article Information
Kunyong Lu, Xun Zhu, Tong Shen

Shanghai Institute for Minimally Invasive Therapy,
School of Medical Instrument and Food Engineering,
University of Shanghai for Science and Technology,
Shanghai, 200093 China

Chengli Song

Shanghai Institute for Minimally Invasive Therapy,
School of Medical Instrument and Food Engineering,
University of Shanghai for Science and Technology,
Shanghai, 200093 China
e-mail: csong@usst.edu.cn

2Corresponding author.

DOI: 10.1115/1.4033788Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030913 (Aug 01, 2016) (2 pages) Paper No: MED-16-1107; doi: 10.1115/1.4033788 History: Received March 01, 2016; Revised March 17, 2016

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References

Fan, C. , Dodou, D. , and Breedveld, P. , 2013, “ Review of Manual Control Methods for Handheld Maneuverable Instruments,” Minimally Invasive Ther. Allied Technol., 22(3), pp. 127–135. [CrossRef]
Jelinek, F. , Arkenbout, E. A. , Henselmans, P. W. J. , Pessers, R. , and Breedveld, P. , 2014, “ Classification of Joints Used in Steerable Instruments for Minimally Invasive Surgery,” ASME J. Med. Devices, 8(3), p. 030914. [CrossRef]
Noonan, D. P. , Vitiello, V. , Shang, J. , Payne, C. J. , and Yang, G. Z. , 2011, “ A Modular, Mechatronic Joint Design for a Flexible Access Platform for MIS,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, Sept. 25–30, pp. 949–954.
Bardou, B. , Zanne, P. , Nageotte, F. , and de Mathelin, M. , 2010, “ Control of a Multiple Sections Flexible Endoscopic System,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, Taiwan, Oct. 18–22, pp. 2345–2350.
Ott, L. , Nageotte, F. , Zanne, P. , and de Mathelin, M. , 2011, “ Robotic Assistance to Flexible Endoscopy by Physiological-Motion Tracking,” IEEE Trans. Rob., 27(2), pp. 346–359. [CrossRef]
Xu, K. , and Simaan, N. , 2010, “ Intrinsic Wrench Estimation and Its Performance Index for Multi-Segment Continuum Robots,” IEEE Trans. Rob., 26(3), pp. 555–561. [CrossRef]
Zhang, L. , Wang, S. , Li, J. , Wang, X. , He, C. , and Qu, J. , 2012, “ A Novel Reconfigurable Unit for High Dexterous Surgical Instrument,” Advances in Reconfigurable Mechanisms and Robots I, Springer-Verlag, London.

Figures

Grahic Jump Location
Fig. 1

Cable-driven joint: (a) traditional flexible structure, (b) traditional joint, (c) novel joint, (d) new flexible structure, and (e) basic component

Grahic Jump Location
Fig. 2

The total path length changes with rotational angle with w = 3.5 and h = 4.0

Grahic Jump Location
Fig. 3

Instrument prototype based on the proposed cable-driven joint: (a) 5 mm laparoscopic scissor, (b) detailed view of instrument tip, and (c) functionality test

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