Kinematic comparison of surgical tendon-driven manipulators and concentric tube manipulators

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• 作者：Zheng Li^a ; ^{lizheng@cuhk.edu.hk} ; Liao Wu^b ; ^{liao.wu@qut.edu.au} ; Hongliang Ren^c ; ^{ren@nus.edu.sg} ; Haoyong Yu^c ; ^{bieyhy@nus.edu.sg}
• 关键词：Tendon-driven manipulator ; Concentric tube manipulator ; Minimally invasive surgery ; Kinematics ; Workspace ; Dexterity
• 刊名：Mechanism and Machine Theory
• 出版年：2017
• 出版时间：January 2017
• 年：2017
• 卷：107
• 期：Complete
• 页码：148-165
• 全文大小：1745 K
• 卷排序：107

文摘

Three types of underactuated surgical manipulators (TCM, TSM and CTM) are compared in the mechanism level using kinematic analysis. Workspaces of TCM/TSM are close to each other; they complement to the workspace of CTM. TCM/TSM exhibit higher distal end dexterous than CTM. L/ π is a critical lateral distance for sweeping motion of the manipulators.