Anisotropic Patterning to Reduce Instability of Concentric-Tube Robots
Anisotropic Patterning to Reduce Instability of Concentric-Tube Robots
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各向异性图案化可减少同心管机器人的不稳定性
DOI：
10.1109/tro.2015.2481283
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发表时间：
2015
影响因子：
7.8
通讯作者：
Kyu
中科院分区：
文献类型：
--
作者：
Dae;Jongwoo Kim;Ji;Changyeob Baek;G. Noh;Do;Keri Kim;Sungchul Kang;Kyu
作为一种可操纵的针或机器人操作器，同心管机器人显示出良好的潜力，用于微创医疗程序。然而，弯曲管的扭转变形是以不稳定为代价的，这不仅限制了工作空间和工具路径，而且当施加外部载荷时还潜在地产生组织破裂的危险。在本文中，我们提出了各向异性图案的管来解决不稳定性问题。孔图案化可以调整管的机械性能，使得扭转刚度与弯曲刚度的比率变得更高。本研究探讨图案设计参数的影响，通过建立一个集总的分析模型，并检查它与有限元分析。图案是通过激光加工雕刻的，我们通过实验验证了材料的各向异性降低了不稳定性。
As a steerable needle or robotic manipulator, the concentric-tube robot shows good potential for use in minimally invasive medical procedures. However, the torsional deformation of the precurved tubes comes at the price of instability, which not only limits the workspace and tool path but also potentially creates danger of tissue rupture when external load is applied. In this paper, we propose anisotropic patterning of tubes to solve the instability problem. Hole-patterning can tune the mechanical properties of the tubes so that the ratio of the torsional rigidity to the bending rigidity becomes higher. This study investigates the effect of pattern design parameters by building a lumped analytical model and examining it with finite-element analysis. The pattern is engraved via laser machining and we experimentally verify that material anisotropy reduces instability.