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Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System

Liu, Taoming
http://rave.ohiolink.edu/etdc/view?acc_num=case1283538593

Abstract Details

2011, Master of Sciences (Engineering), Case Western Reserve University, EMC - Mechanical Engineering.
In minimally invasive surgery, the dexterity of surgical tools is drastically constrained due to a small entry point on the body. Robot-assisted surgical tool systems can be used to overcome this drawback. In this thesis, a 3 degrees-of-freedom (DOF) robotic arm with 6-axis force feedback for minimally invasive surgery is presented. This prototype contains a 2 DOF spherical wrist, which can pitch +/-90 degrees and yaw +/-35 degrees, and a gripper with 6 mm diameter and 32 mm length. This end-effector is actuated using DC motors by means of a cable drive mechanism. A 6-axis force/torque sensor allows accurate measurement of end-effector forces.
M. Cenk Cavusoglu, PhD (Committee Chair)
Wyatt Newman, PhD (Committee Member)
Kiju Lee, PhD (Committee Member)
95 p.
Mechanical Engineering
minimally invasive robotic surgery; wrist mechanism; robotic surgery; surgery robot; force feedback; actuated gripper

Recommended Citations

Citations

  • Liu, T. (2011). Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System [Master's thesis, Case Western Reserve University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=case1283538593

    APA Style (7th edition)

  • Liu, Taoming. Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System. 2011. Case Western Reserve University, Master's thesis. OhioLINK Electronic Theses and Dissertations Center, http://rave.ohiolink.edu/etdc/view?acc_num=case1283538593.

    MLA Style (8th edition)

  • Liu, Taoming. "Design and Prototyping of a Three Degrees of Freedom Robotic Wrist Mechanism for a Robotic Surgery System." Master's thesis, Case Western Reserve University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=case1283538593

    Chicago Manual of Style (17th edition)

case1283538593
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© 2010, all rights reserved.
This open access ETD is published by Case Western Reserve University School of Graduate Studies and OhioLINK.