Analysis of a novel manipulator with low melting point alloy initiated stiffness variation and shape detection for minimally invasive surgery
Analysis of a novel manipulator with low melting point alloy initiated stiffness variation and shape detection for minimally invasive surgery
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DOI：
10.1108/ir-07-2020-0139
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发表时间：
2020-12
期刊：
影响因子：
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通讯作者：
Xiaoyong Wei;Feng Ju;Bai Chen;Hao Guo;Dan Wang;Yao-yao Wang;Hongtao Wu
中科院分区：
文献类型：
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作者：
Xiaoyong Wei;Feng Ju;Bai Chen;Hao Guo;Dan Wang;Yao-yao Wang;Hongtao Wu
目的连续体机器人因其顺应性和灵活性在微创手术中越来越受欢迎。然而，由于连续体机器人缺乏形状跟踪，其灵巧性在加载和精确控制方面都面临着挑战。本文的目的是提出一种能够实时跟踪弯曲形状的新型变刚度连续体机械手。设计/方法/方法采用低熔点合金(LMPA)来实现连续体机械臂的刚度变化和形状检测。提出了单模块的概念设计方案，并阐述了基于建立的静态模型的刚度控制原理。然后介绍了一种形状检测方法，该方法通过测量每个Lpa的阻力来检测连续体机械手的形状。最后，通过仿真验证了变刚度法的效果，并通过实验对变刚度法和形状检测方法进行了评价。结果仿真和实验结果表明，所设计的连续体机械手的刚度变化能力大于42.3%，形状检测方法具有较高的精度。新颖性/价值与传统结构相比，该新型机械手结构简单，并将刚度变化和形状检测能力与LMPA相结合。该方法具有很好的应用前景，可以方便地推广到其他连续体机械手。
Purpose There is an increasing popularity for the continuum robot in minimally invasive surgery owing to its compliance and dexterity. However, the dexterity takes the challenges in loading and precise control because of the absence of the shape tracking for the continuum robot. The purpose of this paper is to propose a new type of continuum manipulator with variable stiffness that can track the bending shape timely. Design/methodology/approach The low-melting-point alloy (LMPA) is used to implement the stiffness variation and shape detection for the continuum manipulator. A conceptual design for a single module is presented, and the principle of stiffness control based on the established static model is formulated. Afterward, a shape detection method is introduced in which the shape of the continuum manipulator can be detected by measuring the resistance of every LMPA. Finally, the effect of the proposed variable stiffness method is verified by simulation; the variable stiffness and shape detection methods are evaluated by experiments. Findings The results from the simulations and experiments indicate that the designed continuum manipulator has the ability of stiffness variation over 42.3% and the shape detection method has high precision. Originality/value Compared with conventional structures, the novel manipulator has a simpler structure and integrates the stiffness variation and shape detection capabilities with the LMPA. The proposed method is promising, and it can be conveniently extended to other continuum manipulators.