@inproceedings{6ad2b17d24904a858e02a1773ca2f525,
title = "Improved surgical robot design using a novel compliant rolling-contact joint",
abstract = "This paper presents an improved design concept for a surgical robot that contributes to improved human-robot interaction and precise positioning of surgical tools. Based on a spherical wrist design, the robot incorporates new human-safe features limiting its ability to apply excessive force and uses a novel adaptation of the compliant rolling-element (CORE) joint suitable for conical rolling surfaces. The proposed safety features aim to provide novel functionality by mechanically disengaging the drive in overload conditions. This approach avoids the necessity of force sensing and control to detect and compensate for unintended device collisions. Further, proof of concept of a novel compliant rolling-element joint is presented as a low-backlash alternative to bevel gear pairs for heightened precision in angular positioning.",
author = "Nelson, {Carl A.} and Dempsey, {Cole A.} and Brush, {Ethan R.} and {Amine Laribi}, M.",
note = "Publisher Copyright: Copyright {\textcopyright} 2019 ASME.; ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2019 ; Conference date: 18-08-2019 Through 21-08-2019",
year = "2019",
doi = "10.1115/DETC2019-97981",
language = "English (US)",
series = "Proceedings of the ASME Design Engineering Technical Conference",
publisher = "American Society of Mechanical Engineers (ASME)",
booktitle = "43rd Mechanisms and Robotics Conference",
}