Design and control of micro robotic systems for micro-manipulation and minimally invasive surgery

被引：1

作者：

Bidaud, P ^{[1
]}

Guinot, JC ^{[1
]}

机构：

[1] Univ Paris 06, Lab Robot Paris, FRE 2507, CNRS, F-78140 Velizy Villacoublay, France

来源：

JOURNAL DE PHYSIQUE IV | 2002年 / 12卷 / PR11期

关键词：

D O I：

10.1051/jp4:20020471

中图分类号：

O4 [物理学];

学科分类号：

0702 ;

摘要：

The first part of this paper describes a micro-nano manipulation system designed for the experimental verification of adhesion based manipulation of objects smaller than 300 mum in open-air. Manipulation parameters are selected from simulation of a model of manipulation dynamics which incorporate microphysics effects. The second part describes an original active steering device for endoscopes. Its mechanical structure is based on a tubular hyper-redundant mechanism. Distributed shape memory alloy (SMA) actuators with their own local controller are integrated in this structure for producing bending forces in reaction to the interaction detected between the instrument and its environment.

引用

页码：19 / 25

页数：7

共 50 条

[1] Modeling and Control of IPMC for Micro-manipulation
Xue, Dingyu
Chen, Zhen
Hao, Lina
Xu, Xinhe
Liu, Yanmei
[J]. 2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2010, : 2401 - 2405
[2] Fabrication and property analysis of a MEMS micro-gripper for robotic micro-manipulation
Kim, Bong-Seok
Park, Joon-Shik
Kang, Byoung Hun
Moon, Chanwoo
[J]. ROBOTICS AND COMPUTER-INTEGRATED MANUFACTURING, 2012, 28 (01) : 50 - 56
[3] Design and verification of multi micro-manipulation strategies
Li, Guanghui
Chen, Tao
Cao, Junjie
Yang, Zhan
Liu, Huicong
[J]. 2016 IEEE WORKSHOP ON ADVANCED ROBOTICS AND ITS SOCIAL IMPACTS (ARSO), 2016, : 55 - 60
[4] MICRO-MANIPULATION AND MICRO-SEQUENCING OF PROTEINS
TSUGITA, A
KAMO, M
JONES, CS
SHIKAMA, N
[J]. JOURNAL OF PROTEIN CHEMISTRY, 1988, 7 (03): : 316 - 316
[5] Forces analysis for micro-manipulation
Rougeot, P
Régnier, S
Chaillet, N
[J]. 2005 IEEE INTERNATIONAL SYMPOSIUM ON COMPUTATIONAL INTELLIGENCE IN ROBOTICS AND AUTOMATION, PROCEEDINGS, 2005, : 105 - 110
[6] Micro-manipulation and adhesion forces
Haliyo, DS
Rollot, Y
Regnier, S
Guinot, JC
[J]. ROMANSY 13 - THEORY AND PRACTICE OF ROBOTS AND MANIPULATORS, 2000, 422 : 265 - 273
[7] Advanced micro-manipulation applications
Haliyo, S
Dionnet, F
Régnier, S
[J]. IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4, 2003, : 1870 - 1875
[8] New concept for micro-manipulation systems: a practical experience
Delprete, Cristiana
Rosso, Carlo
Scarzella, Cristina
[J]. INTERNATIONAL JOURNAL OF ADVANCED MANUFACTURING TECHNOLOGY, 2014, 74 (5-8): : 1077 - 1085
[9] MICRO-MANIPULATION OF MAMMALIAN EMBRYOS
MEINECKETILLMANN, S
[J]. FORTSCHRITTE DER VETERINARMEDIZIN-ADVANCES IN VETERINARY MEDICINE, 1982, : 335 - 339
[10] Microfluidics As a Tool for Micro-Manipulation
Potgieter, S.
Land, K.
Sparrow, R.
[J]. PROCEEDINGS OF THE INTERNATIONAL CONFERENCE OF THE WORLD ASSOCIATION OF LASER THERAPY, 2008, : 151 - 155

← 1 2 3 4 5 →