Structure Design and Workspace Simulation of a Multi-degrees of Freedom Surgical Instrument

L&#252; Kunyong; Zhu Xun; Shen Tong; Song Chengli

doi:10.13433/j.cnki.1003-8728.2016.1214

Volume 35 Issue 12

Jan. 2017

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2016 > 35(12): 1888-1893

Lü Kunyong, Zhu Xun, Shen Tong, Song Chengli. Structure Design and Workspace Simulation of a Multi-degrees of Freedom Surgical Instrument[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(12): 1888-1893. doi: 10.13433/j.cnki.1003-8728.2016.1214

Citation:

Lü Kunyong, Zhu Xun, Shen Tong, Song Chengli. Structure Design and Workspace Simulation of a Multi-degrees of Freedom Surgical Instrument[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(12): 1888-1893. doi: 10.13433/j.cnki.1003-8728.2016.1214

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Structure Design and Workspace Simulation of a Multi-degrees of Freedom Surgical Instrument

doi: 10.13433/j.cnki.1003-8728.2016.1214

1.
School of Medical Instrument and Food Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;
2.
School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China

Received Date: 2015-03-09
Publish Date: 2017-01-05

Abstract

Abstract

A novel cable driving serial bending unit was introduced, and structural optimization and workspace simulation were carried out. With theoretical analysis and numerical simulation, the bending unit was optimized to prevent cable slacking during bending operation, and control accuracy was enhanced. Forward kinematic model of multi-degrees of freedom instrument was established and the final position was calculated by Denavit-Hartenberg (D-H) method. Based on Monte Carlo methods, workspace of multi-degrees of freedom instrument and traditional straight instrument was obtained and compared, and then the Unigraphics (UG) software was employed to calculate the exact workspace volume. The results indicated that multi-degrees of freedom instrument had more workspace and dexterity than straight instrument.
- multi-degrees of freedom,
- surgical instrument,
- structural optimization,
- D-H method,
- workspace

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References(16)

References

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