School of Control Science and Engineering, Shandong University, Jing Shi Road, Jinan, 250061, Shandong, China.
J Robot Surg. 2024 Feb 28;18(1):98. doi: 10.1007/s11701-024-01839-4.
A new configuration of continuum surgical robot is proposed, whose skeleton is composed of inner and outer layers. The outer layer is composed of miniature rotating modules connected in series and connected by orthogonal hinges, which can ensure the ability to resist unconventional torsion without losing the degree of freedom. The inner layer is a central support column with superelasticity. When bending, its superelasticity can make the overall configuration biased toward constant curvature bending, which is convenient for motion control and according to the new configuration, this paper establishes the kinematics model of the robot. Finally, the motion control experiment of the continuum robot is carried out. After the experiment, the average positioning error of the robot is 2.674 mm, and the average repetitive positioning error is 2.625 mm. Both are less than 2 of the robot length, verifying the accuracy of the model.
提出了一种新型连续体手术机器人构型，其骨架由内外两层组成。外层由微型旋转模块串联连接，并通过正交铰链连接，可在不损失自由度的情况下保证抵抗非常规扭转的能力。内层是一个具有超弹性的中心支撑柱。弯曲时，其超弹性可以使整体构型偏向于恒定曲率弯曲，这便于运动控制。根据这种新型构型，本文建立了机器人的运动学模型。最后，对连续体机器人的运动控制实验进行了。实验后，机器人的平均定位误差为 2.674 毫米，平均重复定位误差为 2.625 毫米。两者均小于机器人长度的 2 ，验证了模型的准确性。
