Abstract
A surgical tool with multiple degrees of freedom is designed, working as a laser ablation end-effector for minimally invasive surgery. The end-effector mainly consists of four springs which provide multiple degrees of freedom and four flexible shafts which contracts or extends four springs. The mechanical configuration of the designed end-effector is detailed presented and the mathematical model is formulated. The prototype of the end-effector is built and its motion performance is tested.
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© 2015 Springer International Publishing Switzerland
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Su, B., Shi, Z., Liao, H. (2015). A Laser Ablation End-Effector with Multiple Degrees of Freedom for Minimally Invasive Surgery. In: Su, FC., Wang, SH., Yeh, ML. (eds) 1st Global Conference on Biomedical Engineering & 9th Asian-Pacific Conference on Medical and Biological Engineering. IFMBE Proceedings, vol 47. Springer, Cham. https://doi.org/10.1007/978-3-319-12262-5_62
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DOI: https://doi.org/10.1007/978-3-319-12262-5_62
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-12261-8
Online ISBN: 978-3-319-12262-5
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