针对未来微创手术操作臂的发展需求，提出了一种利用负压原理来增强离散结构间相互作用以实现柔性手术操作臂刚度调节的方法。据此设计制作了可包覆于管状柔性手术臂外表面的气动型多层纤维束编织结构，可通过抽真空使被密封的纤维束夹层内产生负压，增大轴向交错叠加的纤维丝之间的挤压力与摩擦力，从而起到刚度增强的作用。研究了大变形手术臂抗弯刚度的半解析计算方法。开展了该变刚度柔性手术臂结构性能的试验研究，探索了真空度、纤维丝结构参数（丝径和纤维丝表面粗糙度）、封装膜厚度及纤维层截面等因素对手术臂刚度的影响规律，为柔性手术臂的变刚度设计、优化提供了依据。
徐晓亮
,
王永泉
,
温坤
,
陈花玲
,
王树新
,
李涤尘
. 基于纤维包覆式气动结构的柔性手术臂刚度调节性能研究[J]. 机械工程学报, 2018
, 54(17)
: 46
-52
.
DOI: 10.3901/JME.2018.17.046
In view of the future development requirements of the minimally invasive surgical arm, a method using the principle of negative pressure to enhance the interactions between discrete structures is proposed to adjust the stiffness of flexible surgical arms. A pneumatic multilayered fiber braid structure is specially designed and fabricated, cladded on the outer surface of the tube arm. For this structure, negative pressure can be obtained in the interlayer of the sealed fiber filaments by a vacuum pump, and the extrusion pressure and friction force between them increase consequently, leading to a stiffness enhancement of the arm. A semi-analytical method for quantitatively evaluate the flexural stiffness of the large-deformed arm is then studied. Finally, the experimental investigations are performed, focused on the influences of some key parameters on the stiffness adjustment effect of the arm, such as vacuum degree, the size of fiber filaments, the thickness of the packaging film, the cross section of the fiber layer, etc.
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