Annu Int Conf IEEE Eng Med Biol Soc. 2021 Nov;2021:4645-4648. doi: 10.1109/EMBC46164.2021.9630239.
The rapid development of additive manufacturing technology makes it possible to fabricate a patient-specific surgical robot in a short time. To simplify the assembly process of the printed robotic system, compliant-joint-based monolithic structures are often used as substitutes for rigid-link mechanisms to realize flexible bending. In this paper, we introduce a cruciate-ligament-inspired compliant joint (CLCJ) to improve the bending stability of the 3D-printed continuum surgical robots. The basic structure of the tendon-driven CLCJ mechanism and its kinematic model were described in detail. The bending performance of CLCJ was also successfully evaluated by FEM simulation and experimental tests. Besides, a prototype of CLCJ-based surgical robotic system was presented to demonstrate its application in 3D-printed continuum surgical robots.
增材制造技术的快速发展使得在短时间内制造出特定于患者的手术机器人成为可能。为了简化打印机器人系统的组装过程，常使用基于柔顺关节的整体式结构来替代刚性连杆机构，以实现柔性弯曲。在本文中，我们引入了十字韧带启发式柔顺关节（CLCJ）来提高 3D 打印连续体手术机器人的弯曲稳定性。详细描述了腱驱动 CLCJ 机构的基本结构及其运动学模型。还通过有限元模拟和实验测试成功评估了 CLCJ 的弯曲性能。此外，还展示了基于 CLCJ 的手术机器人系统的原型，以证明其在 3D 打印连续体手术机器人中的应用。
