Chitalia Yash, Donder Abdulhamit, Dupont Pierre E
Healthcare Robotics and Telesurgery (HeaRT) Laboratory, University of Louisville, Louisville, Kentucky, USA.
Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, Massachusetts, USA.
Int Symp Med Robot. 2023 Apr;2023. doi: 10.1109/ISMR57123.2023.10130176. Epub 2023 May 25.
Mechanics-based models have been developed to describe the shape of tendon-actuated continuum robots. Models have also been developed to describe the shape of concentric tube robots, i.e., nested combinations of precurved superelastic tubes. While an important class of continuum robots used in endoscopic and intracardiac medical applications combines these two designs, existing models do not cover this combination. Tendon-actuated models are limited to a single tube while concentric tube models do not include tendon-produced forces and moments. This paper derives a mechanics-based model for this hybrid design and assesses it using numerical and physical experiments involving a pair of tendon-actuated tubes. It is demonstrated that, similar to concentric tube robots, relative twisting between the tendon-actuated tubes is an important factor in determining overall robot shape.
基于力学的模型已被开发出来用于描述肌腱驱动的连续体机器人的形状。也有模型被开发出来用于描述同心管机器人的形状，即预弯曲超弹性管的嵌套组合。虽然在内窥镜和心内医疗应用中使用的一类重要的连续体机器人结合了这两种设计，但现有模型并未涵盖这种组合。肌腱驱动模型仅限于单个管，而同心管模型不包括肌腱产生的力和力矩。本文推导了这种混合设计的基于力学的模型，并通过涉及一对肌腱驱动管的数值和物理实验对其进行评估。结果表明，与同心管机器人类似，肌腱驱动管之间的相对扭转是决定机器人整体形状的一个重要因素。
