Four-bar Linkage Based Instrument Design, Manufacture, and Stiffness Synthesis of Minimally Invasive Surgery
Date Issued
2014
Date
2014
Author(s)
Kam, Michael
Abstract
This thesis presents a new design and a method of increasing stiffness for instruments for use in minimally invasive surgery (MIS).
The proposed mechanism features an end-effector based on a four-bar linkage, along with a hand-held device and joints. The proposed instrument is operated using a rotating motion identical to conventional bendable instruments. The purposed design eliminates undesired motions. The instrument is assembled with an actuator and motion converter mechanism. A closed-loop control was installed for the system to achieve the desired stiffness. The increase of the stiffness is verified from the closed-loop system bandwidth. The experimental results of using P controller was above 23.88 Hz, and the PI controller was approximately 15.92 Hz.
Subjects
微創手術
四連桿
剛性
閉迴路控制
頻寬
Type
thesis
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ntu-103-R01522804-1.pdf
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