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Publication - Professor Christopher Melhuish

    Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery

    Citation

    Tzemanaki, A, Fracczak, L, Gillatt, D, Koupparis, A, Melhuish, C, Persad, R, Rowe, E, Pipe, AG & Dogramadzi, S, 2016, ‘Design of a multi-DOF cable-driven mechanism of a miniature serial manipulator for robot-assisted minimally invasive surgery’. in: Biomedical Robotics and Biomechatronics (BioRob), 2016 6th IEEE International Conference on., pp. 55-60

    Abstract

    While multi-fingered robotic hands have been developed for decades, none has been used for surgical operations. μAngelo is an anthropomorphic master-slave system for teleoperated robot-assisted surgery. As part of this system, this paper focuses on its slave instrument, a miniature three-digit hand. The design of the mechanism of such a manipulator poses a challenge due to the required miniaturization and the many active degrees of freedom. As the instrument has a human-centered design, its relation to the human hand is discussed. Two ways of routing its cable-driven mechanism are investigated and the method of deriving the input-output functions that drive the mechanism is presented.

    Full details in the University publications repository