Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions.
Mechanical Model of Dexterous Continuum Manipulators with Compliant Joints and Tendon/External Force Interactions.
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DOI：
10.1109/tmech.2016.2612833
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发表时间：
2017-03
期刊：
影响因子：
--
通讯作者：
Armand M
中科院分区：
文献类型：
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作者：
Gao A;Murphy RJ;Liu H;Iordachita II;Armand M
灵巧连续机械臂（dcm）已广泛应用于微创手术。在手术过程中，这些dcm主动或被动地与周围解剖相互作用。相互作用力将不可避免地影响dcm的尖端位置和形状，导致接近关键解剖结构的控制可能不准确。在本文中，我们展示了一个具有柔性关节的肌腱驱动的缺口DCM的二维力学模型。该模型准确预测了DCM在肌腱力、摩擦力和外力作用下的变形。提出了一种划分方法，将DCM描述为一系列相互连接的刚性和柔性链路。采用梁力学的方法，考虑了肌腱的相互作用以及端部和体部的外力作用，得到了DCM各柔性连杆的变形。模型结果与自由弯曲实验以及在外力作用于DCM尖端或体的情况下的弯曲实验进行了比较。模型预测与所有实验结果之间的总体平均误差为0.62±0.41mm。结果表明，该模型可以有效地预测DCM的形状。
Dexterous continuum manipulators (DCMs) have been widely adopted for minimally- and less-invasive surgery. During the operation, these DCMs interact with surrounding anatomy actively or passively. The interaction force will inevitably affect the tip position and shape of DCMs, leading to potentially inaccurate control near critical anatomy. In this paper, we demonstrated a 2D mechanical model for a tendon actuated, notched DCM with compliant joints. The model predicted deformation of the DCM accurately in the presence of tendon force, friction force, and external force. A partition approach was proposed to describe the DCM as a series of interconnected rigid and flexible links. Beam mechanics, taking into consideration tendon interaction and external force on the tip and the body, was applied to obtain the deformation of each flexible link of the DCM. The model results were compared with experiments for free bending as well as bending in the presence of external forces acting at either the tip or body of the DCM. The overall mean error of tip position between model predictions and all of the experimental results was 0.62±0.41mm. The results suggest that the proposed model can effectively predict the shape of the DCM.