Art

J-GLOBAL ID：201802243107325195   Reference number：18A0774669

Evaluation of Holding Force on Six-D.o.F Surgical Assist Arm with Sphere Joints and Inner-Outer Cables

球面関節及びインナ-アウタケーブルを有する6自由度手術支援アームにおける保持力の評価

Author (2)： YUKAWA Toshihiro (Iwate Univ., Iwate, JPN) ,  SASAKI Jun (Kurihara Thyroid Clinic, Morioka, JPN)
Material： International Journal of Automation Technology  (Int J Autom Technol)
Volume： 12  Issue： 3  Page： 405-412  Publication year： May. 05, 2018 
JST Material Number： L0997B  ISSN： 1881-7629  Document type： Article
Article type： 原著論文  Country of issue： Japan (JPN)  Language： ENGLISH (EN)

Thesaurus term： robot joint ,...
Semi thesaurus term： ball joint ,...

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JST classification (3)： Motion and control of robots  (IC04012J) ,  Design,manufacturing,and components of robots  (IC04013A) ,  Surgical operation  (GC07040B)

Reference (21)：

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• W. Wei, R. E. Goldman, H. F. Fine, S. Chang, and N. Simaan, “Performance Evaluation for Multi-arm Manipulation of Hollow Suspended Organs,” IEEE Trans., ROBOTICS, Vol.25, No.1, pp. 147-157, 2009.
• K. Sugiyama, T. Matsuno, T. Kamegawa, T. Hiraki, H. Nakaya, M. Nakamura, A. Yanou, and M. Minami, “Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control,” J. Robot. Mechatron., Vol.28, No.6, pp. 911-920, 2016.

Terms in the title (8)： 球面 ,  関節 ,  インナ ,  アウタケーブル ,  6自由度 ,  手術支援 ,  保持力 ,  評価