A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports
A Radial Folding Mechanism to Enable Surgical Continuum Manipulators to Fit Through Smaller Ports
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DOI：
10.1109/ismr57123.2023.10130276
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发表时间：
2023-04
期刊：
影响因子：
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通讯作者：
Mariana E. Smith;Daniel E. Esser;Margaret Rox;A. Kuntz;R. Webster
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作者：
Mariana E. Smith;Daniel E. Esser;Margaret Rox;A. Kuntz;R. Webster
肌腱驱动的连续机器人有望在微创手术应用中实现触手般的灵活性。这些机器人的设计目标相互冲突。希望机器人能够穿过尽可能小的端口，但也希望机器人的直径较大，以便对于给定的张力，腱可以向机器人施加更大的致动力矩。为了同时满足这两个目标，我们提出了一种新的径向折叠机构，可促进机器人沿直径变化 2.5 倍。我们展示了我们的折叠肌腱机械手可以通过现有的基于力学的模型进行建模。与一致的肌腱张力相比，该机器人比通过相同尺寸入口的非折叠连续体机器人具有更大的运动范围和更大的刚度。
Tendon driven continuum robots promise tentacle-like dexterity in minimally invasive surgical applications. These robots are subject to conflicting design goals. It is desirable for the robot to fit through the smallest port possible, yet it is also desirable for the robot's diameter to be large, so that for a given tension, tendons can apply larger actuation moments to the robot. To satisfy both goals simultaneously, we propose a new radial folding mechanism that facilitates a 2.5x diameter change along the robot. We show that our folding tendon manipulator can be modeled by existing mechanics-based models. Comparing at consistent tendon tensions, the robot has a larger range of motion and larger stiffness than a non-folding continuum robot that fits through the same sized entry port.