Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps
Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps
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DOI：
10.3390/app12052480
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发表时间：
2022-03-01
影响因子：
2.7
通讯作者：
Arata, Jumpei
中科院分区：
文献类型：
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作者：
Osawa, Keisuke;Bandara, D. S. V.;Arata, Jumpei
早期发现的胃肠道癌症，通过使用柔性内窥镜通过自然腔道进入病变进行治疗。然而，传统治疗装置的有限自由度（DOF）和通过内窥镜的狭窄手术视野要求先进的技术。相比之下，多自由度镊子系统是一个很好的选择;然而，这些系统往往涉及高制造成本，因为它们需要大量的微型零件。为了解决这个问题，我们设计了紧凑的多自由度腔内钳与整体结构，包括顺应性铰链。为了在铰链弯曲时有效地分散基端的应力，我们提出了一种新的设计方法，使用等强度梁理论获得铰链参数。该方法不涉及高计算成本。结果表明，与铰链厚度不变的设计相比，铰链厚度变化的改进设计可以减小最大弯曲应力，使应力在更大的区域内分散。此外，在原型中进行的实验证实，曲率半径显著提高。所提出的方法可以帮助设计依赖于柔性铰链的其他连续体机器人。
Gastrointestinal cancer, when detected early, is treated by accessing the lesion through the natural orifice using flexible endoscopes. However, the limited degree-of-freedom (DOF) of conventional treatment devices and the narrow surgical view through the endoscope demand advanced techniques. In contrast, multi-DOF forceps systems are an excellent alternative; however, these systems often involve high fabrication costs because they require a large number of micro-parts. To solve this problem, we designed compact multi-DOF endoluminal forceps with a monolithic structure comprising compliant hinges. To allow an efficient stress dispersion at the base end when the hinge bends, we proposed a novel design method to obtain the hinge parameters using the beam of uniform strength theory. This method does not involve a high computational cost. The results show that the improved design with a variable hinge thickness can reduce the maximum bending stress, dispersing the stress in a larger area than that of the previous design considering a constant thickness of the hinge. Moreover, the experiments conducted in a prototype confirm that the radius of the curvature was significantly improved. The proposed method could aid in designing other continuum robots relying on compliant hinges.