Equivalent mechanisms techniques for redesign of a spherical surgical tool manipulator

Carl A. Nelson, Xiaoli Zhang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

In the design of robotic manipulators for minimally invasive surgery (MIS), the spherical mechanism is a very important kinematic entity, since it can be used to mimic the constraint that the incision point provides to the surgical tool. In previous research by the authors, a bevel-gear-based spherical manipulator was designed whose actuators could be located on a fixed base link. In this paper, concepts of mechanism equivalency are applied to improving the manipulator design. The guidelines arrived at in this work can inform design of future spherical manipulators, especially those created with surgical tool manipulation in mind.

Original languageEnglish (US)
Title of host publicationASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
Pages11-17
Number of pages7
EditionPARTS A AND B
DOIs
StatePublished - 2010
EventASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 - Montreal, QC, Canada
Duration: Aug 15 2010Aug 18 2010

Publication series

NameProceedings of the ASME Design Engineering Technical Conference
NumberPARTS A AND B
Volume2

Conference

ConferenceASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010
CountryCanada
CityMontreal, QC
Period8/15/108/18/10

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

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  • Cite this

    Nelson, C. A., & Zhang, X. (2010). Equivalent mechanisms techniques for redesign of a spherical surgical tool manipulator. In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE2010 (PARTS A AND B ed., pp. 11-17). (Proceedings of the ASME Design Engineering Technical Conference; Vol. 2, No. PARTS A AND B). https://doi.org/10.1115/DETC2010-28367