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research-article

A Dexterous 3-DOF Surgical Wrist for Compact Articulation Using Cable Guide Channels

[+] Author and Article Information
Dale Podolsky

University of Toronto, The Hospital for Sick Children, 5430-555 Hill Wing, University Avenue, Toronto, Ontario, Canada, M5G 1X8
dale.podolsky@mail.utoronto.ca

Eric Diller

University of Toronto, 5 King's College Road, MC310, Toronto, Ontario, Canada, M5S 3G8
ediller@mie.utoronto.ca

David M Fisher

University of Toronto, The Hospital for Sick Children, 5430-555 Hill Wing, University Avenue, Toronto, Ontario, Canada, M5G 1X8
davidfisher@me.com

Karen W Wong Riff

University of Toronto, The Hospital for Sick Children, 5418-555 Hill Wing, University Avenue, Toronto, Ontario, Canada, M5G 1X8
karenw.wong@sickkids.ca

Thomas Looi

University of Toronto, The Hospital for Sick Children, 7142-555 Burton Wing, University Avenue, Toronto, Ontario, Canada, M5G 1X8
thomas.looi@sickkids.ca

James Drake

University of Toronto, The Hospital for Sick Children, 1504-555 Hill Wing, University Avenue, Toronto, Ontario, Canada, M5G 1X8
james.drake@sickkids.ca

Christpher R Forrest

University of Toronto, The Hospital for Sick Children, 5430-555 Hill Wing, University Avenue, Toronto, Ontario, Canada, M5G 1X8
christopher.forrest@sickkids.ca

1Corresponding author.

ASME doi:10.1115/1.4041591 History: Received April 04, 2018; Revised September 19, 2018

Abstract

Pin-jointed wrist mechanisms provide compact articulation for surgical robotic applications, but are difficult to miniaturize at scales suitable for small body cavity surgery. Solid surface cable guide channels, which eliminate the need for pullys and reduce overall length to facilitate miniaturization were developed within a 3-degree-of-freedom cable driven pin-jointed wrist mechanism. A prototype was 3D printed in steel at 5 mm diameter. Friction generated by the guide channels was experimentally tested to determine increases in cable tension during constant cable velocity conditions. Cable tension increased exponentially from 0 to 37% when the wrist pitched from 0° to 90°. The shape of the guide channel groove and angle where the cable exits the channel impacts the magnitude of cable tension. A spring tensioning and cam actuation mechanism were developed to account for changing cable circuit path lengths during wrist pitch. This work shows that pully-free cable wrist mechanisms can facilitate miniaturization below current feasible sizes while retaining compact articulation, at the expense of increases in friction under constant cable velocity conditions.

Copyright (c) 2018 by ASME
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