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Development of a Pneumatically-Driven Robotic Forceps with a Flexible Wrist Joint
2013
Procedia CIRP
The present paper describes a pneumatically-driven forceps manipulator for minimally-invasive robot surgery that has a simplified flexible wrist joint for easy fabrication, cost reduction and future miniaturization. The joint structure consists only of a machined spring, and four NiTi super-elastic wires fixed to the joint-end are actuated by pneumatic cylinders in push-pull motions. This mechanism realizes two degrees-of-freedom bending motions of the wrist joint and provides higher
doi:10.1016/j.procir.2013.01.012
fatcat:tz4owxyvu5ex3hedklkh7rtsli