Design of passive joint in minimally invasive surgical robot

@article{Yan2014DesignOP,
  title={Design of passive joint in minimally invasive surgical robot},
  author={Jiawen Yan and Bo Pan and Guojun Niu and Yili Fu and Dianguo Xu},
  journal={2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)},
  year={2014},
  pages={35-40}
}
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 surgical robot. Firstly choose the locking type based on the technical requirements, and then the dimension can be determined using friction… CONTINUE READING