Modeling Cable and Guide Channel Interaction in a High-Strength Cable-Driven Continuum Manipulator.
Modeling Cable and Guide Channel Interaction in a High-Strength Cable-Driven Continuum Manipulator.
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DOI：
10.1109/tmech.2015.2396894
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发表时间：
2015-12
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：
Moses MS;Murphy RJ;Kutzer MD;Armand M
本文介绍了几种为手术操作而设计的高强度缆索驱动灵巧机械手的力学模型。提出了一种刚度模型，该模型区分了缆索和主干的作用。建立了一个包含缆索摩擦的基于物理的模型，并将其预测结果与实验数据进行了比较。数据表明，在高张力和高曲率下，机械手的形状与圆弧有显著偏差。然而，简单的参数模型能够以较高的精度拟合该形状。本研究的激励性应用是开发一种模型，以便能够利用诸如张力等易于测量的量来预测形状，从而可以进行实时导航，特别是在微创手术操作中，同时减少对诸如透视等有害成像方法的需求。
This paper presents several mechanical models of a high-strength cable-driven dexterous manipulator designed for surgical procedures. A stiffness model is presented that distinguishes between contributions from the cables and the backbone. A physics-based model incorporating cable friction is developed and its predictions are compared with experimental data. The data show that under high tension and high curvature, the shape of the manipulator deviates significantly from a circular arc. However, simple parametric models can fit the shape with good accuracy. The motivating application for this study is to develop a model so that shape can be predicted using easily measured quantities such as tension, so that real-time navigation may be performed, especially in minimally-invasive surgical procedures, while reducing the need for hazardous imaging methods such as fluoroscopy.