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

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

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

Cite this

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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.",

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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

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ER -

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

Abstract

Keywords

ASJC Scopus subject areas

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