Design Optimization for the Stability of Concentric Tube Robots
Design Optimization for the Stability of Concentric Tube Robots
复制标题
同心管机器人稳定性设计优化
DOI：
10.1109/lra.2021.3102306
复制
发表时间：
2021
影响因子：
5.2
通讯作者：
J. Drake
中科院分区：
文献类型：
--
作者：
K. Luo;Jongwoo Kim;T. Looi;J. Drake
同心管机器人是导管大小的连续机器人，在微创外科手术中表现出灵巧的运动。然而，同心管机器人实际使用的主要挑战之一是其不稳定性，这可能导致组织破裂的风险。折断问题是由具有高弯曲扭转刚度比 (BTSR) 的管引起的。过去的努力表明，管上的各向异性图案可以缓解折断问题。本研究研究了图案的设计优化，以在满足刚度约束的同时最大限度地减少 BTSR。使用拓扑优化方法，菱形图案被确定为稳定性的理想形状。生成的设计通过有限元分析和实验测试进行了验证，以显示 BTSR 的变化和捕捉问题的消除。进行广泛的参数研究来分析设计参数的敏感性并提供设计指南。在满足约束条件的同时，所提出的设计方法在菱形角为60度、体积分数为0.55的情况下表现出0.28的BTSR。优化的设计可能会改善同心管机械手的工作空间和多功能轨迹。
Concentric tube robots are catheter-sized continuum robots that show dexterous movement for minimally invasive surgical procedures. However, one of the major challenges to the practical usage of concentric tube robots is their instability, which potentially leads to the risk of tissue rupture. The snapping problem is caused by tubes having a high bending to torsional stiffness ratio (BTSR). Past efforts have shown that anisotropic patterning on tubes can alleviate the snapping problem. This research investigates the design optimization of patterns to minimize BTSR while satisfying stiffness constraints. Using topology optimization methods, rhombus-shaped patterns were identified as the ideal shape for stability. The generated designs were validated through finite element analysis and experimental testing to show the change of BTSR and the elimination of the snapping problem. Extensive parametric study is performed to analysis the sensitivity of the design parameters and provide the design guidelines. While satisfying the constraints, the proposed design method demonstrated 0.28 of BTSR with a rhombus angle of 60 degrees and a volume fraction of 0.55. The optimized design potentially improves the workspace and versatile trajectories of concentric tube manipulators.