Title: Development of new cable-driven minimally invasive surgical robot

Authors: Longwang Yue; Kong Fah Tee; Baoguo Liu; Tengfei Feng

Addresses: School of Mechanical and Electrical Engineering, Henan University of Technology, China; Department of Engineering Science, University of Greenwich, UK ' Department of Engineering Science, University of Greenwich, UK ' School of Mechanical and Electrical Engineering, Henan University of Technology, China ' School of Mechanical and Electrical Engineering, Henan University of Technology, China

Abstract: Operation intuitiveness and force feedback are two main problems of MIS robots. In order to solve these problems, a new type of robot-assisted MIS system has been proposed. Focusing on the cable-driven MIS robot, which is a core component of the system, the following steps in developing the underlying theory have been conducted. Firstly, the driving cable layout, motion mapping and symmetrical decoupling structures of all types of MIS robot joints are analysed. Secondly, the mathematical formulation of the cable-driven layout of each joint based on the crossing number is derived. Finally, as an example of a cable-driven MIS robot, the kinematics analysis of the symmetrical spatial intersecting joints is developed based on D-H method and the crossing number. The results show that the cable driven symmetrical intersecting joints could improve the operation intuitiveness and realise direct force feedback.

Keywords: minimally invasive surgery; MIS; robot design; intuitive operation; cable-driven; force feedback; cross number; specula symmetry mapping; central symmetry mapping.

DOI: 10.1504/IJAAC.2019.098583

International Journal of Automation and Control, 2019 Vol.13 No.3, pp.324 - 346

Received: 22 May 2017
Accepted: 27 Oct 2017
Published online: 28 Mar 2019 *

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