Gao Anzhu, Murphy Ryan J, Liu Hao, Iordachita Iulian I, Armand Mehran
State key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China; A. Gao is also with University of Chinese Academy of Sciences, Beijing, China.
Johns Hopkins University Applied Physics Laboratory, Laurel, MD 20723-6099, USA.
IEEE ASME Trans Mechatron. 2017 Feb;22(1):465-475. doi: 10.1109/TMECH.2016.2612833. Epub 2016 Sep 22.
Dexterous continuum manipulators (DCMs) have been widely adopted for minimally- and less-invasive surgery. During the operation, these DCMs interact with surrounding anatomy actively or passively. The interaction force will inevitably affect the tip position and shape of DCMs, leading to potentially inaccurate control near critical anatomy. In this paper, we demonstrated a 2D mechanical model for a tendon actuated, notched DCM with compliant joints. The model predicted deformation of the DCM accurately in the presence of tendon force, friction force, and external force. A partition approach was proposed to describe the DCM as a series of interconnected rigid and flexible links. Beam mechanics, taking into consideration tendon interaction and external force on the tip and the body, was applied to obtain the deformation of each flexible link of the DCM. The model results were compared with experiments for free bending as well as bending in the presence of external forces acting at either the tip or body of the DCM. The overall mean error of tip position between model predictions and all of the experimental results was 0.62±0.41mm. The results suggest that the proposed model can effectively predict the shape of the DCM.
灵巧连续体操纵器（DCMs）已被广泛应用于微创和无创手术。在手术过程中，这些DCMs会主动或被动地与周围解剖结构相互作用。相互作用力将不可避免地影响DCMs的末端位置和形状，从而在关键解剖结构附近导致潜在的控制不准确。在本文中，我们展示了一种用于带有柔顺关节的腱驱动、带切口DCM的二维力学模型。该模型在存在腱力、摩擦力和外力的情况下准确地预测了DCM的变形。提出了一种划分方法，将DCM描述为一系列相互连接的刚性和柔性连杆。应用梁力学，考虑腱的相互作用以及末端和主体上的外力，以获得DCM每个柔性连杆的变形。将模型结果与DCM在自由弯曲以及在末端或主体上存在外力时弯曲的实验进行了比较。模型预测与所有实验结果之间末端位置的总体平均误差为0.62±0.41mm。结果表明，所提出的模型能够有效地预测DCM的形状。
