Conventional surgical manipulators are in straight-bar shape and made of rigid materials mostly, which fail to adapt to the minimally invasive surgical operation using natural orifices. Therefore, a flexible surgical manipulator, with multi-DOF deformation and variable stiffness abilities via pneumatic artificial muscle actuation and fiber jamming techniques, is presented. The integrated manufacturing process of the manipulator unit is developed. An experimental test system is set up to obtain the nonlinear relationships between the bending deformation, output force of the pneumatic artificial muscle actuator and the air pressure. The relationships between anti-bending ability of a single unit and negative pressure, fiber density and fiber arrangement are further studied. The optimized design scheme is obtained. Within a complex system, the multi-DOF deformation in obstacle-avoiding and the stiffness tunability of the manipulator are demonstrated.
CHEN Yuyu
,
LIU Lei
,
LI Bo
,
WEI Chao
,
WANG Shuxin
,
LI Dichen
. Design, Fabrication and Performance of a Flexible Minimally Invasive Surgery Manipulator Integrated with Soft Actuation and Variable Stiffness[J]. Journal of Mechanical Engineering, 2018
, 54(17)
: 53
-61
.
DOI: 10.3901/JME.2018.17.053
[1] 李政,王国慧,谭娟,等. NOTES器械的工作空间与人机界面:概念、研究现状与技术展望[J]. 世界复合医学,2015,1(4):304-311. LI Zheng,WANG Guohui,TAN Juan,et al. Working space and human-machine interface of NOTES instruments:concept,research status and outlook[J]. World Journal of Complex Medicine,2015,1(4):304-311.
[2] HUGHES J,CULHA U,GIARDINA F,et al. Soft Manipulators and grippers:A review[J]. Frontiers in Robotics and AI,2016,3(69):1-12.
[3] 刘磊. 基于介电弹性体的可变刚度多自由度操作臂关键问题研究[D]. 西安:西安交通大学,2017. LIU Lei. Research on the key issues of stiffness tunable and multi-degree manipulator based on dielectric elastomers[D]. Xi'an:Xi'an Jiaotong University,2017.
[4] 王树新,王晓菲,张建勋,等. 辅助腹腔微创手术的新型机器人"妙手A"[J]. 机器人技术与应用,2011(4):17-21. WANG Shuxin,WANG Xiaofei,ZHANG Jianxun,et al. A new assistant laparoscopic minimally invasive surgery robot "MicroHand A"[J]. Robot Technique and Application,2014(4):17-21.
[5] 李铁风,李国瑞,梁艺鸣,等. 软体机器人结构机理与驱动材料研究综述[J]. 力学学报,2016,48(4):756-766. LI Tiefeng,LI Guorui,LIANG Yiming,et al. Review of materials and structures in soft robotics[J]. Chinese Journal of Theoretical and Application Mechanics,2016,48(4):756-766.
[6] 王延杰,汝杰,赵东旭,等. 离子聚合物-金属复合材料(IPMC)的电极界面研究进展[J]. 材料导报,2017,31(15):24-29. WANG Yanjie,RU Jie,ZHAO Dongxu,et al. The state of art of electrode interface of ionic polymer-metal composites(IPMC)[J]. Materials Review,2017,31(15):24-29.
[7] 李博,陈花玲. 介电弹性材料驱动器的力电耦合机理及稳定性研究[J]. 机械工程学报,2014,50(11):42. LI Bo,CHEN Hualing. Electromechanical coupling mechanism and stability of dielectric elastomer actuator[J]. Journal of Mechanical Engineering,2014,50(11):42.
[8] BARTLETT N W,TOLLEY M T,OVERVELDE J T,et al. SOFT ROBOTICS. A 3D-printed,functionally graded soft robot powered by combustion[J]. Science,2015,349(6244):161-5.
[9] 王田苗,郝雨飞,杨兴帮,等. 软体机器人:结构、驱动、传感与控制[J]. 机械工程学报,2017,53(13):1-13. WANG Tianmiao,HAO Yufei,YANG Xingbang,et al. Soft robotics:Structure,actuation,sensing and control[J]. Journal of Mechanical Engineering,2017,53(13):1-3.
[10] 魏树军,王天宇,谷国迎. 基于纤维增强型驱动器的气动软体抓手设计[J]. 机械工程学报,2017,53(13):29-38. WEI Shujun,WANG Tianyu,GU Guoying. Design of a soft pneumatic robotic gripper based on fiber-reinforced actuator[J]. Journal of Mechanical Engineering,2017,53(13):29-38.
[11] HAO Yufei,GONG Zheyuan,XIE Zhexin,et al. Universal soft pneumatic robotic gripper with variable effective length[C]//Control Conference. IEEE,2016:6109-6114.
[12] SHEPHERD R F,ILIEVSKI F,CHOI W,et al. Multigait soft robot[J]. Proceedings of the National Academy of Sciences of the United States of America,2011,108(51):20400.
[13] 孙其诚. 颗粒物质力学导论[M]. 北京:科学出版社,2009. SUN Qicheng. Introduction to the mechanics of particulate matter[M]. Beijing:Science Press,2009.
[14] 王奇,董旭峰,李芦钰,等. 磁流变弹性体松弛行为的本构描述[J]. 复合材料学报,2013,30(s1):138-141. WANG Qi,DONG Xufeng,LI Luyu,et al. Constitutive description for relaxation behavior of magnetorheological elastomer[J]. Acta Materiae Compositae Sinica,2013,30(s1):138-141.
[15] 党智敏,王海燕,彭勃,等. 高介电常数的聚合物基纳米复合电介质材料[J]. 中国电机工程学报,2006,26(15):100-104. DANG Zhimin,WANG Haiyan,PENG Bo,et al. Polymer-based nanocomposite dielectric materials with high dielectric constant[J]. Proceedings of the CSEE,2006,26(15):100-104.
[16] BROWN E,RODENBERG N,AMEND J,et al. Universal robotic gripper based on the jamming of granular material[J]. Proceedings of the National Academy of Sciences of the United States of America,2010,107(44):18809-18814.
[17] WEI Ying,CHEN Yonghua,YANG Yang,et al. A soft robotic spine with tunable stiffness based on integrated ball joint and particle jamming[J]. Mechatronics,2016,33:84-92.
[18] LOEVE A J,Van DE VEN O S,VOGEL J G,et al. Vacuum packed particles as flexible endoscope guides with controllable rigidity[J]. Granular Matter,2010,12(6):543-554.
[19] STELTZ E,MOZEIKA A,RODENBER N,et al. JSEL:Jamming skin enabled locomotion[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE Press,2009:5672-5677.
