Variable stiffness methods of flexible robots for minimally invasive surgery: A review

Biomimetic Intelligence and Robotics Pub Date : 2024-06-04 DOI:10.1016/j.birob.2024.100168

Botao Lin, Shuang Song , Jiaole Wang

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Abstract

With high flexibility and slim body, flexible robots have been widely used in minimally invasive surgery because they can safely reach the lesion deep inside the human body through small incisions or natural orifices. However, high stiffness of robot body is also required for transferring force and maintaining the motion accuracy. To meet these two contradictory requirements, various methods have been implemented to enable adjustable stiffness for flexible surgical robots. In this review, we first summarize the anatomic constraints of common natural tracts of human body to provide a guidance for the design of variable stiffness flexible robots. And then, the variable stiffness methods have been categorized based on their basic principles of varying the stiffness. In the end, two variable stiffness methods with great potential and the moving strategy of variable stiffness flexible robots are discussed.

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用于微创手术的柔性机器人可变刚度方法：综述

柔性机器人具有高柔性和纤细的机身，可以通过小切口或天然孔道安全地到达人体深处的病灶，因此在微创手术中得到了广泛应用。然而，机器人本体也需要较高的刚度来传递力和保持运动精度。为了满足这两个相互矛盾的要求，人们采用了各种方法来实现柔性手术机器人的刚度可调。在这篇综述中，我们首先总结了人体常见自然腔道的解剖限制，为可变刚度柔性机器人的设计提供指导。然后，根据改变刚度的基本原理对可变刚度方法进行了分类。最后，讨论了两种极具潜力的变刚度方法和变刚度柔性机器人的移动策略。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Biomimetic Intelligence and Robotics

CiteScore

1.80

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0.00%

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