A Miniature Manipulator with Variable Stiffness Towards Minimally Invasive Transluminal Endoscopic Surgery

Li，Changsheng1; Yan，Yusheng2; Xiao，Xiao3; Gu，Xiaoyi4; Gao，Huxin5; Duan，Xingguang6; Zuo，Xiuli7; Li，Yanqing8; Ren，Hongliang9

2021

10.1109/LRA.2021.3068115

IEEE Robotics and Automation Letters   影响因子和分区

2377-3774

2377-3766

This paper presents a miniature manipulator with variable stiffness towards minimally invasive transluminal endoscopic surgery, such as the endoscopic submucosal dissection (ESD). The manipulator comprises hollow modules with holes in the sidewall, compact with a 4 mm diameter, and dexterous with six degrees of freedom (DOFs). Basic operation including grasping and stripping can be achieved via the terminal surgical tools. The flexible tubes and torque coils are adopted to avoid the motion coupling of the joints. The worm gears with an anti-backdrive property are used to transfer power from the motor to the reels. The variable stiffness is achieved by using the spring-sliding block-based driver system, delivering both high payload/accuracy and flexibility. The system is described in detail. The kinematics, workspace and variable stiffness are analyzed. Tests in terms of the grasping force and variable stiffness are conducted. Results show that the grasping force is larger than 3 N, and the manipulator's stiffness can be tuned with high rates of change. The manipulator's performances, such as the dexterity and the coordination of operation under the masterslave configuration, were preliminarily demonstrated through the basic mock-up operations.

Electron tubes Force Grasping Kinematics Manipulators Miniature surgical manipulator minimally invasive surgery Robots surgical robotics transluminal endoscopic surgery variable stiffness Wires

SCI ; EI

英语

其他

WOS:000655244300005

20211310151404

Agricultural robots ; Degrees of freedom (mechanics) ; Manipulators ; Stiffness ; Surgery ; Surgical equipment ; Worm gears

Medicine and Pharmacology:461.6 ; Biomedical Equipment, General:462.1 ; Machine Components:601.2 ; Mechanics:931.1 ; Materials Science:951

2-s2.0-85103278540

Scopus

1.School of Mechatronical Engineering, Beijing Institute of Technology, Beijing, China, 100081 (e-mail: lics@bit.edu.cn)
2.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin, China, 150001 (e-mail: yys703@hrbeu.edu.cn)
3.Department of Electrical and Electronic Engineering, Southern University of Science and Technology, Shenzhen, China, 518055 (e-mail: xiaox@sustech.edu.cn)
4.Biomedical engineering, National University of Singapore, Singapore, Singapore, 117456 (e-mail: xiaoyi900217@gmail.com)
5.BME, National University of Singapore, Singapore, Singapore, 117583 (e-mail: e0343967@u.nus.edu)
6.School of Computer Science & Technology, Beijing Institute of Technology, Beijing, China, 100081 (e-mail: duanstar@bit.edu.cn)
7.QiluHospitalofShandongUniversity, China, (e-mail: zuoxiuli@sdu.edu.cn)
8.Qilu Hospital of Shandong University, China, (e-mail: liyanqing@sdu.edu.cn)
9.Department of Biomedical Engineering, Faculty of Engineering, National University of Singapore, Singapore, Singapore, 117575 (e-mail: ren@nus.edu.sg)

Li，Changsheng,Yan，Yusheng,Xiao，Xiao,et al. A Miniature Manipulator with Variable Stiffness Towards Minimally Invasive Transluminal Endoscopic Surgery[J]. IEEE Robotics and Automation Letters,2021,6(3):5541-5548.

Li，Changsheng.,Yan，Yusheng.,Xiao，Xiao.,Gu，Xiaoyi.,Gao，Huxin.,...&Ren，Hongliang.(2021).A Miniature Manipulator with Variable Stiffness Towards Minimally Invasive Transluminal Endoscopic Surgery.IEEE Robotics and Automation Letters,6(3),5541-5548.

Li，Changsheng,et al."A Miniature Manipulator with Variable Stiffness Towards Minimally Invasive Transluminal Endoscopic Surgery".IEEE Robotics and Automation Letters 6.3(2021):5541-5548.