Design and kinematics analysis of a cable-stayed notch manipulator for transluminal endoscopic surgery  

作　　者：Yanqiang Lei Fuxin Du Huajian Song Liping Zhang 

机构地区：[1]School of Automation and Electrical Engineering,Linyi University,Linyi 276000,China [2]School of Mechanical Engineering,Shandong University,Jinan 25006i,China [3]MH Robot&Automation Co.,LTD.,Zhucheng 262100,China [4]School of Logistics,Linyi University,Linyi 276000,China

出　　处：《Biomimetic Intelligence & Robotics》2024年第4期99-108,共10页仿生智能与机器人(英文)

基　　金：supported by the National Key Research and Development Program of China(2023YFB4705800 and 2022YFB4703000);the Key Research and Development Program of Shandong Province,China(2022CXGC010503);Shandong Provincial Postdoctoral Innovative Talents Funded Scheme,China(238226).

摘　　要：The friction between the joints of the continuum manipulator with discrete joints brings great difficulties to kinematic modeling.The traditional driving wire arrangement limits the load capacity of the manipulator.A cable-stayed notch manipulator for transluminal endoscopic surgery is proposed,and a driving force coupling kinematic mode is established.The manipulator is fabricated from a superelastic Nitinol tube with bilaterally cut rectangular notches and is actuated by a stay cable.By applying the comprehensive elliptic integral solution(CEIS)for large deformation beams,the bending angle of each elastic beam is obtained,and the kinematics from the driving space to the joint space is formed.According to the bending angle of each elastic beam,the expression of the manipulator in Cartesian space can be obtained by geometric analysis.The kinematics from the joint space to the Cartesian space is established.The outer diameter of the manipulator is only 3.5 mm,and the inner diameter can reach 2 mm,allowing instruments to pass through.The maximum error of the manipulator movement is less than 5%.The load capacity of the manipulator has been verified through the stiffness experiments,and the maximum load of the manipulator can reach 400 g.The cable-stayed notch manipulator can be accurately modeled on the base of CEIS,and its motion accuracy can meet the needs of engineering applications.The compact size and excellent load capacity of the manipulator make it potential for application in transluminal endoscopic surgical robots.

关 键 词：Medical robot Comprehensive elliptic integral solution Kinematics Notch continuum manipulator Transluminal endoscopic surgery 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]