A modular cable-driven surgical robot with a safe joint design

Carl A. Nelson

Research output: Contribution to journalArticlepeer-review

Abstract

A modular surgical robot design is presented in this paper. The focus is on making the robot more flexible and reconfigurable, while ensuring human-safe robot interactions. The cable-driven robot has modular link and joint designs, enabling a variety of serial configurations. The joint design includes a biasing spring which inherently creates a maximum load threshold while also reducing the number of actuating cables by half. Safety of this joint mechanism is ensured by a ratchet-based locking mechanism. Design and analysis of this robot are presented.

Original languageEnglish (US)
Pages (from-to)77-84
Number of pages8
JournalMechanisms and Machine Science
Volume66
DOIs
StatePublished - 2019

Keywords

  • Cable-driven robot
  • Human-safe robotic joint
  • Modular robot configuration
  • Surgical robot

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering

Fingerprint

Dive into the research topics of 'A modular cable-driven surgical robot with a safe joint design'. Together they form a unique fingerprint.

Cite this