A Novel Reconfigurable Unit for High Dexterous Surgical Instrument
Surgical instruments with multi-degree of freedom (DoFs) are widely used in single-port surgery and natural orifice transluminal endoscopic surgery. In this paper, a novel reconfigurable unit, which can be used as a basic component of a high dexterous surgical instrument (HDSI), was developed according to an isosceles trapezoid mechanism. Then the unit was improved and optimized to obtain a larger rotational range. The new unit can prevent driving cable from slackening during the moving. Two multi-joint prototypes, which are designed based on the proposed reconfigurable unit, are developed and experimented preliminarily. Experiment results show that the unit can avoid cable slack and is suitable to be used for HDSI.
KeywordsReconfigurable unit Surgical instrument Cable driving Slack
This work was supported by NSFC (National Science Foundation of China) under grant 50925520, The first author also likes to express his gratitude to Xiaogen Jiang from Birmingham University and Dongyang Xue from Tianjin University for their help.
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