| 言語種別 | 英語 |
|---|---|
| 発行・発表の年月 | 2019/01 |
| 形態種別 | 学術雑誌 |
| 査読 | 査読あり |
| 標題 | Simple noninterference mechanism between the pitch and yaw axes for a wrist mechanism to be employed in robot-assisted laparoscopic surgery |
| 執筆形態 | 単著 |
| 掲載誌名 | ROBOMECH Journal |
| 掲載区分 | 国外 |
| 出版社・発行元 | Springer |
| 巻・号・頁 | 6(1),1-12 |
| 著者・共著者 | Makoto JINNO |
| 概要 | This study proposes a new wrist mechanism for using articulated forceps in laparoscopic surgery. The degrees of freedom of the proposed design are provided by motor-driven or manually driven axes employing various wires and pulleys (pitch, yaw, and gripper axes). The kinematic model of this mechanism is decoupled between the pitch axis and yaw axis by a very simple mechanism using arc-shaped guides and wire guide holes. The effectiveness of the proposed mechanism was demonstrated on a prototype model with a maximum outer diameter of 7.5 mm. |
| researchmap用URL | https://doi.org/10.1186/s40648-019-0129-y |