The paper addresses the design of a micro wrist for needle laparoscopic surgery (needlescopy) using MEMS technology and an original 3 degree of freedom, 3D architecture. Advancement in needlescopy drives the development of multi-dof micro-tools 1-2mmin diameter with 3D mobility but standard available fabricationtechniques are for 2.5D structures. The paper discusses thedevelopment steps and design solutions for the realization of the 3Dwrist with available technology. A compliant mechanism is used whichis derived from a reference parallel kinematics mechanismarchitecture with three legs. A singular configuration of increasedinstantaneous mobility is exploited to achieve the desired 3Dmobility. Alternative leg architectures are investigated to obtainsatisfactory performance. The legs are fabricated as monolithiccompliant structures and assembled to wrist base and end-effector.The definition of the leg geometry revealed a complex task. Thesteps to obtain the final design satisfying task requirements aredetailed.
Authors
Additional information
- DOI
- Digital Object Identifier link open in new tab 10.1115/1.2965608
- Category
- Publikacja w czasopiśmie
- Type
- artykuł w czasopiśmie z listy filadelfijskiej
- Language
- angielski
- Publication year
- 2008
