Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System
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| Language: | English |
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Case Western Reserve University School of Graduate Studies / OhioLINK
2011
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| Online Access: | http://rave.ohiolink.edu/etdc/view?acc_num=case1283538593 |
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ndltd-OhioLink-oai-etd.ohiolink.edu-case12835385932021-08-03T05:33:51Z Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System Liu, Taoming Mechanical Engineering minimally invasive robotic surgery wrist mechanism robotic surgery surgery robot force feedback actuated gripper In minimally invasive surgery, the dexterity of surgical tools is drastically constrained due to a small entry point on the body. Robot-assisted surgical tool systems can be used to overcome this drawback. In this thesis, a 3 degrees-of-freedom (DOF) robotic arm with 6-axis force feedback for minimally invasive surgery is presented. This prototype contains a 2 DOF spherical wrist, which can pitch +/-90 degrees and yaw +/-35 degrees, and a gripper with 6 mm diameter and 32 mm length. This end-effector is actuated using DC motors by means of a cable drive mechanism. A 6-axis force/torque sensor allows accurate measurement of end-effector forces. 2011 English text Case Western Reserve University School of Graduate Studies / OhioLINK http://rave.ohiolink.edu/etdc/view?acc_num=case1283538593 http://rave.ohiolink.edu/etdc/view?acc_num=case1283538593 unrestricted This thesis or dissertation is protected by copyright: all rights reserved. It may not be copied or redistributed beyond the terms of applicable copyright laws. |
| collection |
NDLTD |
| language |
English |
| sources |
NDLTD |
| topic |
Mechanical Engineering minimally invasive robotic surgery wrist mechanism robotic surgery surgery robot force feedback actuated gripper |
| spellingShingle |
Mechanical Engineering minimally invasive robotic surgery wrist mechanism robotic surgery surgery robot force feedback actuated gripper Liu, Taoming Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System |
| author |
Liu, Taoming |
| author_facet |
Liu, Taoming |
| author_sort |
Liu, Taoming |
| title |
Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System |
| title_short |
Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System |
| title_full |
Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System |
| title_fullStr |
Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System |
| title_full_unstemmed |
Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System |
| title_sort |
design and prototyping of a three degrees of freedom robotic wrist mechanism for a robotic surgery system |
| publisher |
Case Western Reserve University School of Graduate Studies / OhioLINK |
| publishDate |
2011 |
| url |
http://rave.ohiolink.edu/etdc/view?acc_num=case1283538593 |
| work_keys_str_mv |
AT liutaoming designandprototypingofathreedegreesoffreedomroboticwristmechanismforaroboticsurgerysystem |
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1719421781036498944 |