Title :
A continuum module for developing a biopsy device
Author :
Hyun-Soo Yoon ; Jiun Jeon ; Jae Heon Chung ; Byung-Ju Yi
Author_Institution :
Hanyang Univ., Ansan, South Korea
Abstract :
This work introduces a continuum module for developing a biopsy device. A unit continuum module has 2 DOF, consisting of multiple springs and multiple cylinders. This continuum can be bent up to 180 degrees and it has small radius of curvature. The kinematics for this continuum is provided. A 5 DOF biopsy device is developed by assembling two continuum modules and it can be applied to take sample from the human body.
Keywords :
end effectors; medical robotics; springs (mechanical); surgery; DOF; biopsy device; continuum kinematics; cylinder; end-effector; spring; surgical robot; unit continuum module; Ambient intelligence; Biopsy; Kinematics; Service robots; Springs; Wires; Biopsy device; Continuum; Flexibility;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6463035
