Compact 4DOF robotic forceps with 3.5 mm in diameter for neurosurgery based on a synthetic elastic structure

In recent years, robotic forceps are widely explored in the field of Robotics using various types of mechanisms. In this paper, we propose compact 4DOF robotic forceps for neurosurgery based on compliant mechanism. A notable feature of proposed robotic forceps is that the springs are largely deforme...

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Bibliographic Details
Published in2017 International Symposium on Micro-NanoMechatronics and Human Science (MHS) pp. 1 - 3
Main Authors Fujisawa, Yosuke, Kiguchi, Kazuo, Harada, Kanako, Mitsuishi, Mamoru, Hashizume, Makoto, Arata, Jumpei
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2017
Subjects
Grasping
Mechanical engineering
Neurosurgery
Pins
Prototypes
Robots
Springs
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Summary:In recent years, robotic forceps are widely explored in the field of Robotics using various types of mechanisms. In this paper, we propose compact 4DOF robotic forceps for neurosurgery based on compliant mechanism. A notable feature of proposed robotic forceps is that the springs are largely deformed to transmit and transform the motion, therefore the manipulator's structure can be simple, thus can be miniaturized. We performed a series of Finite Element Analysis and showed that the proposed robotic forceps have sufficient working area and rigidity.
ISSN:2474-3771
DOI:10.1109/MHS.2017.8305215