Kinematics, control and workspace analysis of a bowden wire actuated manipulator for minimally invasive single-port surgery

被引：0
|
作者：
Can, S. [1 ]
Jensen, B. [1 ]
Dean-Leon, E. [1 ]
Staub, C. [1 ]
Knoll, A. [1 ]
Fiolka, A.
Schneider, A.
Meining, A.
Feussner, H.
机构：
[1] Tech Univ Munich, D-80290 Munich, Germany
来源：
2012 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO 2012) | 2012年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
This work presents the kinematics and control of a 6DOF manipulator for single-port surgery. Two such highly versatile manipulators and a semi-rigid telescope are combined in a unit that can be inserted through a 30mm incision into the abdominal cavity. A velocity-based task-space control was implemented in a simulation environment to evaluate the kinematics of the manipulator and position control of the instruments. The manipulators are operated with two space-mouse that are integrated as a new input device. An evaluation of the system in a pick-and-place scenario is also presented. Finally, a workspace analysis was accomplished to assess the capabilities and drawbacks of the realized system.
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页数：6
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