Jinpeng Diao

Compact Manipulator With Flexible Parallel Mechanisms and Variable Stiffness for Keyhole Procedures

Changsheng Li, Jinpeng Diao, Chao Qian, Xiaoqiang Wu et autres

ABSTRACT Keyhole procedures frequently necessitate passing instruments through narrow, elongated surgical channels, presenting a significant challenge in designing manipulators with compact structures and superior remote dexterity. In this work, we propose a novel 7 degrees‐of‐freedom variable stiffness dexterous surgical manipulator based on …

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Fast Real-Time Neural Network-Based Kinematics Solving of the Cosserat Rod Model for a Parallel Continuum Surgical Manipulator

Xiaoqiang Wu, Chao Qian, Jinpeng Diao, Xingguang Duan et autres

The parallel continuum mechanism offers distinct advantages in the design of surgical manipulators, including enhanced stiffness, improved precision, and a simplified structure compared to traditional Tendon-driven systems. Conventional kinematic models based on constant-curvature assumptions are often inadequate for accurately capturing the complex …

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A Two-Segment 7-DOF Miniature Flexible Parallel Manipulator Toward Minimally Invasive Transluminal Endoscopic Surgery

Chao Qian, Jinpeng Diao, Xiaoyi Gu, Hongliang Ren et autres

Minimally invasive transluminal endoscopic surgery provides access to deep and narrow spaces, significantly reducing tissue damage and shortening recovery time. However, conventional endoscopic manipulators are constrained by inadequate flexibility and miniaturization, making it difficult to perform surgical procedures effectively in these challenging …

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3-Axial Force Self Fault-Tolerant Decoupling of Surgical Forceps Integrating Step-Coated FBG for Spinal Endoscopic Robot

Chen Zhao, Changsheng Li, Mingchang Du, Jinpeng Diao et autres

This work proposed surgical forceps as a sensor that integrated step-coated Fiber Bragg Grating (FBG) for the 3-axial force sensing in the percutaneous spinal endoscopic robot. The step-coated FBG achieved a reflection spectrum with double wavelength peaks, providing more wavelength signals for …

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Kinematic Synthesis of Flexible Manipulator for Spinal Endoscopic Surgery via Bayesian Optimization with Multi-Physical Constraints

Kaijie Zhang, Jinpeng Diao, Xiaoqiang Wu, Chao Qian et autres

Kinematic synthesis of flexible manipulator for minimally invasive spinal endoscopic surgery faces challenges such as multi-constraint coupling (geometric, performance, environmental) and difficulties in modeling complex flexible deformations. To address these, this paper proposes an integrated kinematic synthesis framework for spinal endoscopic manipulators, …

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A Steerable Surgical Drill Based on a Push-Pull Linkage Mechanism for Grinding Operations in Constrained Bony Cavity Environments

Chao Qian, Jinpeng Diao, Xingguang Duan, Changsheng Li

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TIODT: Touch-free Intuitive Operation Digital Twin Platform for Minimally Invasive Surgical Robot

Dongsheng Xie, Jinpeng Diao, Fengxinyun Fang, Yang Wang et autres

Precise and intuitive control interfaces are vital in the field of surgical robotics to enhance surgical outcomes. This study introduces a novel approach to touch-free control of a surgical robot using a digital twin framework. The system leverages advanced hand tracking, gesture …

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Modeling and Analysis of Surgical Parallel Continuum Manipulator

Chao Qian, Jinpeng Diao, Rong Cong, Zhuoheng Li et autres

Parallel continuum robots have been widely utilized in minimally invasive surgery as a result of their high flexibility and dexterity, which can minimize surgical trauma. In this paper, we propose a dexterous surgical manipulator with four DOFs, which is composed of three …

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A Flexible Parallel Robotic Wrist Towards Transluminal Endoscopic Surgery

Jinpeng Diao, Chao Qian, Xiao Xiao, Xingguang Duan et autres

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