Abstract
Unlike the existing rigid surgical robots, flexible endoscopic robotic platforms have been actively researched owing to the advantages of high lesion accessibility and scar-free. However, there still exists difficult-to-access areas such as cardia and fundus in the gastrointestinal tract due to the limited Degrees of Freedom (DoFs) of the manipulator. In this study, we propose a multi-bending endoscopic manipulator to improve accessibility to the gastric region in any position and orientation. We perform mechanism design, kinematics, and cable-control analysis of the proposed manipulator. Finally, we verify the multi-bending motion in the simulated flexible pathway.
| Original language | English |
|---|---|
| Title of host publication | 2022 22nd International Conference on Control, Automation and Systems, ICCAS 2022 |
| Publisher | IEEE Computer Society |
| Pages | 1733-1735 |
| Number of pages | 3 |
| ISBN (Electronic) | 9788993215243 |
| DOIs | |
| State | Published - 2022 |
| Event | 22nd International Conference on Control, Automation and Systems, ICCAS 2022 - Busan, Korea, Republic of Duration: 27 Nov 2022 → 1 Dec 2022 |
Publication series
| Name | International Conference on Control, Automation and Systems |
|---|---|
| Volume | 2022-November |
| ISSN (Print) | 1598-7833 |
Conference
| Conference | 22nd International Conference on Control, Automation and Systems, ICCAS 2022 |
|---|---|
| Country/Territory | Korea, Republic of |
| City | Busan |
| Period | 27/11/22 → 1/12/22 |
Bibliographical note
Publisher Copyright:© 2022 ICROS.
Keywords
- Cable-driven Mechanism
- Continuum Manipulator
- Flexible Endoscopic Manipulator
- Rolling-contact Joint Mechanism
- Surgical Robot