Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-driven Multi-segment Continuum Mechanisms

IF 2.2 4区计算机科学 Q2 ENGINEERING, MECHANICAL Journal of Mechanisms and Robotics-Transactions of the Asme Pub Date : 2023-03-08 DOI:10.1115/1.4057075

Zhengyu Wang, Shiyang Bao, Bin Zi, Zirui Jia, Xiang Yu

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引用次数: 1

Abstract

This paper presents the design, analysis, and development of a novel four degrees of freedom (4-DOF) endoscopic robot with cable-driven multi-segment flexible continuum mechanisms. The endoscopic robot is mainly composed of the passive positioning arm, cable-pulley system and 3-DOF flexible continuum mechanism. The forward and inverse kinematics of the endoscopic robot are derived based on the constant curvature assumption, and its working space, flexibility and preoperative incision determination method are analyzed as well. Based on the hardware structure of the robot system, a control strategy and a control software are developed, and the continuum mechanism is kinematically calibrated to carry out the trajectory planning experiment and simulated surgery experiment. The experimental results show that the calibrated constant curvature model can be used for the motion control of the continuum mechanism, and the 4-DOF endoscopic robot can meet the visual field requirements of minimally invasive surgery.

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一种新型四自由度柔性内窥镜机器人的研制

本文介绍了一种新型四自由度（4-DOF）内窥镜机器人的设计、分析和开发，该机器人具有缆索驱动的多节柔性连续体机构。内窥镜机器人主要由被动定位臂、索轮系统和三自由度柔性连续体机构组成。基于常曲率假设推导了内窥镜机器人的正运动学和逆运动学，分析了其工作空间、灵活性和术前切口确定方法。基于机器人系统的硬件结构，开发了控制策略和控制软件，并对连续体机构进行了运动学标定，进行了轨迹规划实验和模拟手术实验。实验结果表明，校准后的常曲率模型可用于连续体机构的运动控制，4自由度内窥镜机器人能够满足微创手术的视野要求。

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来源期刊

Journal of Mechanisms and Robotics-Transactions of the Asme ENGINEERING, MECHANICAL-ROBOTICS

CiteScore

5.60

自引率

15.40%

发文量

131

审稿时长

4.5 months

期刊介绍： Fundamental theory, algorithms, design, manufacture, and experimental validation for mechanisms and robots; Theoretical and applied kinematics; Mechanism synthesis and design; Analysis and design of robot manipulators, hands and legs, soft robotics, compliant mechanisms, origami and folded robots, printed robots, and haptic devices; Novel fabrication; Actuation and control techniques for mechanisms and robotics; Bio-inspired approaches to mechanism and robot design; Mechanics and design of micro- and nano-scale devices.