A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery
A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery
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DOI：
10.1109/tro.2013.2287975
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发表时间：
2014-04-01
影响因子：
7.8
通讯作者：
Iagnemma, Karl
中科院分区：
文献类型：
--
作者：
Kim, Yong-Jae;Cheng, Shanbao;Iagnemma, Karl
在机器人单孔手术中，希望机械臂具有可变刚度的特性。小端口切口既需要机械臂的高灵活性以保证安全，又需要高结构刚度以保证操作精度和高载荷能力。提出了一种具有可变中立线机构和可调刚度的超冗余管状机械臂。独特的不对称排列的肌腱和连杆实现了机械手的关节和连续的刚度调制。这种不对称运动由一种新的驱动机构补偿，而不影响其结构刚度。本文介绍了可变中性线机械手的基本力学原理及其刚度特性。仿真和实验结果验证了该机构的性能。
In robotic single-port surgery, it is desirable for a manipulator to exhibit the property of variable stiffness. Small-port incisions may require both high flexibility of the manipulator for safety purposes, as well as high structural stiffness for operational precision and high payload capability. This paper presents a new hyperredundant tubular manipulator with a variable neutral-line mechanisms and adjustable stiffness. A unique asymmetric arrangement of the tendons and the links realizes both articulation of the manipulator and continuous stiffness modulation. This asymmetric motion of the manipulator is compensated by a novel actuation mechanism without affecting its structural stiffness. The paper describes the basic mechanics of the variable neutral-line manipulator, and its stiffness characteristics. Simulation and experimental results verify the performance of the proposed mechanism.