Design and Evaluation of a Continuum Robot with Discreted link joints for Cardiovascular Interventions

2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) Pub Date : 2018-08-01 DOI:10.1109/BIOROB.2018.8487633

Kiyoung Kim, H. Woo, Jungwook Suh

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引用次数: 9

Abstract

This paper deals with the design, modelling, fabrication, and experiments of a novel continuum robot that can be used for cardiovascular interventions. In this paper, a new design of bending joints of the continuum robot and its kinematical modelling are proposed. The bending joints of the proposed robot are designed to be easy to miniaturize and have a wide motion range. The continuum robot consists of an inner guide and an outer guide, each having two degrees of freedom (DOF). The 2DOF bending joints are driven by antagonistic actuation and the actuation part of the continuum robot is implemented to control the stiffness of the bending joints. When the pretensions of the cables of the bending joints are adjusted, the structural stiffness of the bending joints can be controlled. In this paper, the entire system of the continuum robot has been implemented and the basic performance of the proposed continuum robot has been verified. The proposed robot was confirmed to be bent actively in the S-shape curve.

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一种用于心血管干预的离散关节连续机器人的设计与评价

本文介绍了一种用于心血管干预的新型连续体机器人的设计、建模、制造和实验。本文提出了一种连续体机器人弯曲关节的新设计及其运动学建模方法。该机器人的弯曲关节设计易于小型化，运动范围广。连续体机器人由内导轨和外导轨组成，各有两个自由度。采用拮抗驱动方式驱动2自由度弯曲关节，利用连续体机器人的驱动部分控制弯曲关节的刚度。通过调整弯曲接头缆索的张力，可以控制弯曲接头的结构刚度。本文对连续体机器人的整个系统进行了实现，并对所提出的连续体机器人的基本性能进行了验证。验证了该机器人在s型曲线上主动弯曲。

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2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)

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