Wei Xiaoyong, Ju Feng, Chen Bai, Guo Hao, Qi Fei, Bai Dongming, Ding Yadong
Annu Int Conf IEEE Eng Med Biol Soc. 2020 Jul;2020:4895-4898. doi: 10.1109/EMBC44109.2020.9176466.
There is an increasingly popularity for the continuum robot in minimally invasive surgery(MIS), because of the compliance and dexterity. In the first place, a variable stiffness manipulator can resolve the two contradictions of the demands for predominant flexibility and strong payload capacity. In the second place, to control the continuum robot more precisely and avoid the collision between robot and human body, real-time tracking of the shape of the continuum robot is of great significance. A new type of flexible manipulator with variable stiffness is proposed which can track the bending shape timely. The low-melting-point-alloy (LMPA) is used to realize the variable stiffness and shape detection for the flexible manipulator. The concept design for a single module is put forward. Then the stiffness control method and finite element simulation, the method of shape detection are presented. Moreover, the presented method of shape detection is evaluated by experiments.
由于具有柔顺性和灵活性，连续体机器人在微创手术（MIS）中越来越受欢迎。首先，可变刚度操纵器可以解决对主要灵活性和强大负载能力的需求这两个矛盾。其次，为了更精确地控制连续体机器人并避免机器人与人体之间的碰撞，对连续体机器人的形状进行实时跟踪具有重要意义。提出了一种新型的可变刚度柔性操纵器，它可以及时跟踪弯曲形状。采用低熔点合金（LMPA）实现柔性操纵器的可变刚度和形状检测。提出了单个模块的概念设计。然后给出了刚度控制方法和有限元模拟、形状检测方法。此外，通过实验对所提出的形状检测方法进行了评估。
