Matches in SemOpenAlex for { <https://semopenalex.org/work/W3207084581> ?p ?o ?g. }
- W3207084581 abstract "This paper presents a modular and reconfigurable mini-robotic system with 5 degrees of freedom (DoFs) towards minimally invasive surgery (MIS). The mini-robotic system consists of two modules, a 2-DoFs rotational end-effector, and a 3-DoFs positioning platform. The 2-DoFs rotational end-effector is based on a spring-spherical joint mechanism, whose rotation is controlled by Bowden-cable. The 3-DoFs positioning platform is based on the linear Delta parallel mechanism. Magnetic spherical joints are adopted to replace the traditional spherical joint. The magnetic joint connections enable fast assembling and disassemble of the end platform and kinematic chains. Different surgical instruments can be installed without changing the driver and control system. A flexible shaft actuates the 3-DoFs positioning platform to arrange the motors away from the manipulator side. Based on these structure characteristics, the 3-DoFs positioning platform’s size is dramatically reduced. The outer diameter of the current prototype is 32.5 mm. The single-axis positioning accuracy of the 3-DoFs positioning platform is within -1 mm to 0.85 mm. Three axes tracking experiments are also carried out, with the positioning errors of ± 1.2 mm for cylindrical curves and -1.5 mm to 2 mm for spherical helix curves. Static and dynamic load capabilities are also tested. Finally, the feasibility of the proposed system is demonstrated." @default.
- W3207084581 created "2021-10-25" @default.
- W3207084581 creator A5008934460 @default.
- W3207084581 creator A5055468404 @default.
- W3207084581 creator A5060655852 @default.
- W3207084581 creator A5073511720 @default.
- W3207084581 creator A5080733588 @default.
- W3207084581 creator A5080883308 @default.
- W3207084581 creator A5083896582 @default.
- W3207084581 date "2021-05-30" @default.
- W3207084581 modified "2023-10-18" @default.
- W3207084581 title "Magnetically-Connected Modular Reconfigurable Mini-robotic System with Bilateral Isokinematic Mapping and Fast On-site Assembly towards Minimally Invasive Procedures" @default.
- W3207084581 cites W2149841830 @default.
- W3207084581 cites W2567171169 @default.
- W3207084581 cites W2608855996 @default.
- W3207084581 cites W2622483012 @default.
- W3207084581 cites W2754550828 @default.
- W3207084581 cites W2802167593 @default.
- W3207084581 cites W2884324731 @default.
- W3207084581 cites W2913626197 @default.
- W3207084581 cites W2913677630 @default.
- W3207084581 cites W2914029293 @default.
- W3207084581 cites W2921483293 @default.
- W3207084581 cites W2921728736 @default.
- W3207084581 cites W2956331353 @default.
- W3207084581 cites W2964608116 @default.
- W3207084581 cites W2966587880 @default.
- W3207084581 cites W2972722178 @default.
- W3207084581 cites W2979075096 @default.
- W3207084581 cites W2988432911 @default.
- W3207084581 cites W2990657723 @default.
- W3207084581 cites W3005865645 @default.
- W3207084581 cites W3008991766 @default.
- W3207084581 cites W3022580094 @default.
- W3207084581 cites W3023797889 @default.
- W3207084581 cites W3034436867 @default.
- W3207084581 cites W3045573862 @default.
- W3207084581 doi "https://doi.org/10.1109/icra48506.2021.9561141" @default.
- W3207084581 hasPublicationYear "2021" @default.
- W3207084581 type Work @default.
- W3207084581 sameAs 3207084581 @default.
- W3207084581 citedByCount "1" @default.
- W3207084581 countsByYear W32070845812023 @default.
- W3207084581 crossrefType "proceedings-article" @default.
- W3207084581 hasAuthorship W3207084581A5008934460 @default.
- W3207084581 hasAuthorship W3207084581A5055468404 @default.
- W3207084581 hasAuthorship W3207084581A5060655852 @default.
- W3207084581 hasAuthorship W3207084581A5073511720 @default.
- W3207084581 hasAuthorship W3207084581A5080733588 @default.
- W3207084581 hasAuthorship W3207084581A5080883308 @default.
- W3207084581 hasAuthorship W3207084581A5083896582 @default.
- W3207084581 hasConcept C101468663 @default.
- W3207084581 hasConcept C111919701 @default.
- W3207084581 hasConcept C121332964 @default.
- W3207084581 hasConcept C127413603 @default.
- W3207084581 hasConcept C154945302 @default.
- W3207084581 hasConcept C172707124 @default.
- W3207084581 hasConcept C18555067 @default.
- W3207084581 hasConcept C208081375 @default.
- W3207084581 hasConcept C2775924081 @default.
- W3207084581 hasConcept C2778603505 @default.
- W3207084581 hasConcept C39920418 @default.
- W3207084581 hasConcept C41008148 @default.
- W3207084581 hasConcept C44154836 @default.
- W3207084581 hasConcept C47446073 @default.
- W3207084581 hasConcept C62520636 @default.
- W3207084581 hasConcept C62611344 @default.
- W3207084581 hasConcept C66938386 @default.
- W3207084581 hasConcept C74050887 @default.
- W3207084581 hasConcept C74650414 @default.
- W3207084581 hasConcept C8652668 @default.
- W3207084581 hasConcept C89611455 @default.
- W3207084581 hasConcept C90509273 @default.
- W3207084581 hasConceptScore W3207084581C101468663 @default.
- W3207084581 hasConceptScore W3207084581C111919701 @default.
- W3207084581 hasConceptScore W3207084581C121332964 @default.
- W3207084581 hasConceptScore W3207084581C127413603 @default.
- W3207084581 hasConceptScore W3207084581C154945302 @default.
- W3207084581 hasConceptScore W3207084581C172707124 @default.
- W3207084581 hasConceptScore W3207084581C18555067 @default.
- W3207084581 hasConceptScore W3207084581C208081375 @default.
- W3207084581 hasConceptScore W3207084581C2775924081 @default.
- W3207084581 hasConceptScore W3207084581C2778603505 @default.
- W3207084581 hasConceptScore W3207084581C39920418 @default.
- W3207084581 hasConceptScore W3207084581C41008148 @default.
- W3207084581 hasConceptScore W3207084581C44154836 @default.
- W3207084581 hasConceptScore W3207084581C47446073 @default.
- W3207084581 hasConceptScore W3207084581C62520636 @default.
- W3207084581 hasConceptScore W3207084581C62611344 @default.
- W3207084581 hasConceptScore W3207084581C66938386 @default.
- W3207084581 hasConceptScore W3207084581C74050887 @default.
- W3207084581 hasConceptScore W3207084581C74650414 @default.
- W3207084581 hasConceptScore W3207084581C8652668 @default.
- W3207084581 hasConceptScore W3207084581C89611455 @default.
- W3207084581 hasConceptScore W3207084581C90509273 @default.
- W3207084581 hasFunder F4320322108 @default.
- W3207084581 hasFunder F4320322942 @default.
- W3207084581 hasFunder F4320327605 @default.
- W3207084581 hasFunder F4320337504 @default.
- W3207084581 hasLocation W32070845811 @default.