Design Strategy for a Surgical Manipulator based on a Compliant Mechanism : Rigidity and Range of Motion: Finding the Optimized Balance
Design Strategy for a Surgical Manipulator based on a Compliant Mechanism : Rigidity and Range of Motion: Finding the Optimized Balance
复制标题
基于柔顺机构的手术机械手的设计策略：刚性和运动范围：寻找最佳平衡
DOI：
10.1109/robio49542.2019.8961727
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发表时间：
2019
期刊：
影响因子：
--
通讯作者：
J. Arata
中科院分区：
文献类型：
--
作者：
Zongpeng Wu;D. Bandara;K. Kiguchi;J. Arata
柔顺机构由于其具有制造小型化、简单化、灵巧化机械结构的特点，近年来在微创外科手术机械臂的开发中受到了广泛的关注。机器人辅助MIS要求仪器具有更高的精度，更高的输出力和更高的运动范围（ROM），以获得更好的性能。另一方面，由于弹性元件的行为，妥协这些因素是具有挑战性的。在柔性机构中，弹性元件的刚度决定了精度和输出力。在本文中，我们研究了刚度的行为和弹性元件的ROM使用以前开发的手术机器人钳基于一个柔性机构。为了解决这一问题，我们研究了在不同刚度值下，通过改变柔性结构的厚度，柔性机构的ROM的变化。结果显示了柔性机械臂的ROM与刚度之间的线性关系，给出了这种权衡的最佳平衡点。
Compliant mechanisms have drawn the attention recently in developing surgical robotic manipulators for minimally invasive surgery (MIS) owing to their capabilities in making miniaturized, simple, dexterous mechanical structures. Robotically assisted MIS demands instruments with higher precision, higher output force and a higher range of motion (ROM) for better performances. On the other hand, because of the behaviour of the elastic elements, compromising these factors is challenging. In a compliant mechanism, the rigidity of the elastic element determines the precision and output force. In this paper, we study the behaviour of rigidity and the ROM of elastic elements using previously developed surgical robotic forceps based on a compliant mechanism. To tackle this problem, we studied the variation of ROM of the compliant mechanism at different rigidity values of the compliant structure by changing its thickness. The results showed the linear relationship between the ROM and the rigidity of a compliant mechanical manipulator, suggesting the optimized balance point in this trade-off.