TY - GEN
T1 - Cruciate-Ligament-Inspired Compliant Joints
T2 - 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2021
AU - Sun, Yilun
AU - Lueth, Tim C.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - The rapid development of additive manufacturing technology makes it possible to fabricate a patient-specific surgical robot in a short time. To simplify the assembly process of the printed robotic system, compliant-joint-based monolithic structures are often used as substitutes for rigid-link mechanisms to realize flexible bending. In this paper, we introduce a cruciate-ligament-inspired compliant joint (CLCJ) to improve the bending stability of the 3D-printed continuum surgical robots. The basic structure of the tendon-driven CLCJ mechanism and its kinematic model were described in detail. The bending performance of CLCJ was also successfully evaluated by FEM simulation and experimental tests. Besides, a prototype of CLCJ-based surgical robotic system was presented to demonstrate its application in 3D-printed continuum surgical robots.
AB - The rapid development of additive manufacturing technology makes it possible to fabricate a patient-specific surgical robot in a short time. To simplify the assembly process of the printed robotic system, compliant-joint-based monolithic structures are often used as substitutes for rigid-link mechanisms to realize flexible bending. In this paper, we introduce a cruciate-ligament-inspired compliant joint (CLCJ) to improve the bending stability of the 3D-printed continuum surgical robots. The basic structure of the tendon-driven CLCJ mechanism and its kinematic model were described in detail. The bending performance of CLCJ was also successfully evaluated by FEM simulation and experimental tests. Besides, a prototype of CLCJ-based surgical robotic system was presented to demonstrate its application in 3D-printed continuum surgical robots.
UR - http://www.scopus.com/inward/record.url?scp=85122542348&partnerID=8YFLogxK
U2 - 10.1109/EMBC46164.2021.9630239
DO - 10.1109/EMBC46164.2021.9630239
M3 - Conference contribution
C2 - 34892249
AN - SCOPUS:85122542348
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 4645
EP - 4648
BT - 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2021
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 1 November 2021 through 5 November 2021
ER -