Page 399 - Flexible Robotics in Medicine

392 Chapter 17

Figure 17.2
The distribution of the DOFs. (A) DOF 1: translation along the axis. (B) DOF 2: abduction. (C)
DOF 3: adduction. (D) DOF 4: bending of the wrist. (E) DOF 5: bending of the forceps. (F) DOF
6: grasping of the forceps.

Table 17.1: Main parameters of the robotic system.
Parameters Values Units References
Channels 3 A minimum of three endoscopic channels [15]
Length 40 mm
The diameter of the 3.6 mm The size of the current robotics for NOTES
manipulator mainly ranges from [5to [14 [16]
Bending angle of the arm 30 Degrees
Bending angle of the wrist 6 90 degrees
joint
DOF 6 for each DOFs should not be less than 4 [14]
manipulator
Drive mode Bowden cable
Material 45# steel
Features Compliance;
variable stiffness

17.2.2 System overview

Fig. 17.1 presents a surgical robot with variable stiffness for NOTES. This robot is
composed of two same manipulators attached to an endoscopic platform and a driver. The