Research on transmission backlash characteristics of end-effector in minimally invasive surgical robots

YU Yongchun; JIN Xiaoyi; QIAN Yawei; NIU Yibo; MENG Panpan

doi:10.12299/jsues.24-0093

Volume 39 Issue 3

Sep. 2025

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Article Navigation > Journal of Shanghai University of Engineering Science > 2025 > 39(3): 307-313

YU Yongchun, JIN Xiaoyi, QIAN Yawei, NIU Yibo, MENG Panpan. Research on transmission backlash characteristics of end-effector in minimally invasive surgical robots[J]. Journal of Shanghai University of Engineering Science, 2025, 39(3): 307-313. doi: 10.12299/jsues.24-0093

Citation:

YU Yongchun, JIN Xiaoyi, QIAN Yawei, NIU Yibo, MENG Panpan. Research on transmission backlash characteristics of end-effector in minimally invasive surgical robots[J]. Journal of Shanghai University of Engineering Science, 2025, 39(3): 307-313. doi: 10.12299/jsues.24-0093

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Research on transmission backlash characteristics of end-effector in minimally invasive surgical robots

doi: 10.12299/jsues.24-0093

School of Mechanical and Automotive Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Received Date: 2024-03-28
Available Online: 2025-12-22
Publish Date: 2025-09-30

Abstract

Abstract

Focusing on the end-effector of minimally invasive surgical robots, proposing a novel rotation mechanism and conducting numerical simulation and experimental research on its transmission backlash characteristics. A computational model for transmission backlash was established through theoretical derivation, with analysis of transfer deviation's impact on output torque under different influencing factors. Numerical results indicate that when output torque ranges from 0 to 0.3 N·m, the transfer deviation stays within 0° to 0.04°. Transmission backlash shows significant sensitivity to preload force and steel wire cross-sectional area, while being less affected by free wire segment length. A physical prototype and experimental platform were constructed to perform tracking experiments, measuring the end-effector's rotation angle threshold at ±74.29°. Data and error analyses of transmission backlash characteristics were conducted through simulations mimicking frequent surgical direction changes during operations.
- surgical robot,
- end-effector,
- transmission backflash,
- simulation experiment

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References(11)

References

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