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Analysis of a novel manipulator with low melting point alloy initiated stiffness variation and shape detection for minimally invasive surgery
Industrial Robot ( IF 1.8 ) Pub Date : 2020-12-23 , DOI: 10.1108/ir-07-2020-0139
Xiaoyong Wei , Feng Ju , Bai Chen , Hao Guo , Dan Wang , Yaoyao Wang , Hongtao Wu

Purpose

There is an increasing popularity for the continuum robot in minimally invasive surgery owing to its compliance and dexterity. However, the dexterity takes the challenges in loading and precise control because of the absence of the shape tracking for the continuum robot. The purpose of this paper is to propose a new type of continuum manipulator with variable stiffness that can track the bending shape timely.

Design/methodology/approach

The low-melting-point alloy (LMPA) is used to implement the stiffness variation and shape detection for the continuum manipulator. A conceptual design for a single module is presented, and the principle of stiffness control based on the established static model is formulated. Afterward, a shape detection method is introduced in which the shape of the continuum manipulator can be detected by measuring the resistance of every LMPA. Finally, the effect of the proposed variable stiffness method is verified by simulation; the variable stiffness and shape detection methods are evaluated by experiments.

Findings

The results from the simulations and experiments indicate that the designed continuum manipulator has the ability of stiffness variation over 42.3% and the shape detection method has high precision.

Originality/value

Compared with conventional structures, the novel manipulator has a simpler structure and integrates the stiffness variation and shape detection capabilities with the LMPA. The proposed method is promising, and it can be conveniently extended to other continuum manipulators.



中文翻译:

用于微创手术的新型低熔点合金机械手刚度变化和形状检测分析

目的

由于其顺应性和灵巧性,连续体机器人在微创手术中越来越受欢迎。然而,由于连续体机器人没有形状跟踪,灵巧性在加载和精确控制方面面临挑战。本文的目的是提出一种具有可变刚度的新型连续体机械手,可以及时跟踪弯曲形状。

设计/方法/方法

低熔点合金(LMPA)用于实现连续体机械手的刚度变化和形状检测。提出了单个模块的概念设计,并基于所建立的静态模型制定了刚度控制原理。然后介绍了一种形状检测方法,通过测量每个LMPA的电阻来检测连续体机械手的形状。最后,通过仿真验证了所提出的变刚度方法的效果;通过实验评估了可变刚度和形状检测方法。

发现

仿真和实验结果表明,所设计的连续体机械手具有超过42.3%的刚度变化能力,形状检测方法具有较高的精度。

原创性/价值

与传统结构相比,新型机械手结构更简单,将刚度变化和形状检测能力与LMPA集成在一起。所提出的方法很有前景,并且可以方便地扩展到其他连续体机械手。

更新日期:2020-12-23
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