Design of passive joint in minimally invasive surgical robot

Abstract

Several passive joints are usually needed in surgical robots to decrease the difficulty in doctors' operating, which can be manually rotated without motor pushing. When stopped at a specified position, passive joints should be locked until operation ends, and keep bearing torques. This paper is aimed to design a locking method used in minimally invasive… (More)
DOI: 10.1109/ROBIO.2014.7090303

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