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

Carl A. Nelson

doi:10.1007/978-3-030-00365-4_10

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

Carl A. Nelson

Mechanical & Materials Engineering

Research output: Contribution to journal › Article › peer-review

1 Scopus citations

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 language	English (US)
Pages (from-to)	77-84
Number of pages	8
Journal	Mechanisms and Machine Science
Volume	66
DOIs	https://doi.org/10.1007/978-3-030-00365-4_10
State	Published - 2019

Keywords

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

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering

Access to Document

10.1007/978-3-030-00365-4_10

Cite this

@article{a832c6ce0d05459283a08164f3a9f36b,

title = "A modular cable-driven surgical robot with a safe joint design",

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.",

keywords = "Cable-driven robot, Human-safe robotic joint, Modular robot configuration, Surgical robot",

author = "Nelson, {Carl A.}",

note = "Funding Information: The author acknowledges support from the UNL College of Engineering. Publisher Copyright: {\textcopyright} 2019, Springer Nature Switzerland AG.",

year = "2019",

doi = "10.1007/978-3-030-00365-4_10",

language = "English (US)",

volume = "66",

pages = "77--84",

journal = "Mechanisms and Machine Science",

issn = "2211-0984",

publisher = "Springer Netherlands",

}

TY - JOUR

T1 - A modular cable-driven surgical robot with a safe joint design

AU - Nelson, Carl A.

PY - 2019

Y1 - 2019

N2 - 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.

AB - 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.

KW - Cable-driven robot

KW - Human-safe robotic joint

KW - Modular robot configuration

KW - Surgical robot

UR - http://www.scopus.com/inward/record.url?scp=85052841793&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=85052841793&partnerID=8YFLogxK

U2 - 10.1007/978-3-030-00365-4_10

DO - 10.1007/978-3-030-00365-4_10

M3 - Article

AN - SCOPUS:85052841793

SN - 2211-0984

VL - 66

SP - 77

EP - 84

JO - Mechanisms and Machine Science

JF - Mechanisms and Machine Science

ER -

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

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this