IJAT Vol.12 No.3 pp. 405-412
doi: 10.20965/ijat.2018.p0405

Technical Paper:

Evaluation of Holding Force on Six-D.o.F Surgical Assist Arm with Sphere Joints and Inner-Outer Cables

Toshihiro Yukawa*,† and Jun Sasaki**

*Department of Systems Innovation Engineering, Faculty of Science and Engineering, Iwate University
4-3-5 Ueda, Morioka, Iwate 020-8551, Japan

Corresponding author

**Kurihara Thyroid Clinic, Morioka, Japan

September 12, 2017
February 19, 2018
Online released:
May 1, 2018
May 5, 2018
surgical arm, fixation device, six-D.o.F manipulator, sphere joint, inner-outer cables

A new type of surgical instrument developed as substitutes for an abdominal retractor for use during surgery is described. The new instrument can increase the efficiency of retraction during surgery. We develop an assistant mechanism which has a six-D.o.F, as high controllability at the tip of the mechanism. The mechanism consists of a serial three-link manipulator whose each joint is composed of a ball joint. The instrument needs to maintain the shape of the relevant body part while maintaining own posture during surgery.

Cite this article as:
T. Yukawa and J. Sasaki, “Evaluation of Holding Force on Six-D.o.F Surgical Assist Arm with Sphere Joints and Inner-Outer Cables,” Int. J. Automation Technol., Vol.12 No.3, pp. 405-412, 2018.
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