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http://dx.doi.org/10.7746/jkros.2021.16.2.164

Continuum Mechanism with increased force and Optimal Design Method for Manually Controlled Endoscopic Surgical Instrument  

Lee, Hoyul (DGMIF)
Jung, Euisung (DGMIF)
Jeong, Yoosoo (DGMIF)
Park, Young-Sang (DGMIF)
Song, Chanho (DGMIF)
Son, Jaebum (Medical Device Development Center, DGMIF)
Publication Information
The Journal of Korea Robotics Society / v.16, no.2, 2021 , pp. 164-171 More about this Journal
Abstract
This paper proposes a continuum mechanism for manually controlled endoscopic surgical instruments. The wire-driven mechanism is typically adapted for endoscopic surgical tools because motors cannot be embedded to the joints due to the size limitation. However, the conventional wire-driven mechanism has inherent problems caused by redundancy, such as deflection and low precision. It does not have operating force and manipulability for surgery. Therefore, a method to increase the force of the continuum mechanism using a multi-wire with simple mechanical structure is proposed. Moreover, for intuitive operation, a hand-controller mechanism that can manipulate the length of the wire without complex process is proposed. Finally, we show that the proposed mechanism and methods are applicable to endoscopic surgical tools through simple experiments.
Keywords
Endoscopic Surgical Instrument; Continuum Mechanism; Wire-Driven Mechanism;
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