Journal of Mechanical Engineering >

2018 , Vol. 54 >Issue 17: 28 - 35

DOI: https://doi.org/10.3901/JME.2018.17.028

Deployable Manipulator with Tunable Stiffness for Natural Orifice Transluminal Endoscopic Surgery

  • ZHANG Guokai ,
  • MA Jiayao ,
  • SHANG Zufeng ,
  • CHEN Yan ,
  • YOU Zhong ,
  • YI Bo ,
  • WANG Shuxin
Expand
  • 1. Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin 300350;
    2. School of Mechanical Engineering, Tianjin University, Tianjin 300350;
    3. Department of Engineering Science, University of Oxford, Oxford OX1 3PJ, UK;
    4. The Third Xiangya Hospital of Central South University, Changsha 410013

Received date: 2018-01-17

  Revised date: 2018-04-25

  Online published: 2018-09-05

Fold

Abstract

Natural orifice transluminal endoscopic surgery (NOTES) has great potential in clinical applications due to its shorter and better recoveries, less trauma and postoperative pain compared with open surgery. In NOTES, a long manipulator is always placed through a tortuous human orifice to create a channel for surgical instruments and provide support when they are operated. Currently most manipulators have a large profile and low stiffness, and therefore are not able to meet the requirements of NOTES. A new deployable manipulator with tunable stiffness is proposed. The manipulator takes a braided structure to achieve radial deployment/folding, whereas hot melt adhesive is placed at the intersection points of the structure to adjust its stiffness. A mathematical model is built to calculate the stiffness in the rigid and flexible states, respectively. Experimental results demonstrate that by heating and cooling the adhesive, a flexible and a rigid states are achieved, and the ratio of bending stiffness in the rigid state to that in the flexible state reaches around 20. The stiffness switch is complete in less than 30 s. In addition, a deployable over folding ratio of around 2 is also achieved.

Key words： natural orifice transluminal endoscopic surgery; braided structure; tunable stiffness; deployment/folding ratio; manipulator

Cite this article

ZHANG Guokai , MA Jiayao , SHANG Zufeng , CHEN Yan , YOU Zhong , YI Bo , WANG Shuxin . Deployable Manipulator with Tunable Stiffness for Natural Orifice Transluminal Endoscopic Surgery[J]. Journal of Mechanical Engineering, 2018 , 54(17) : 28 -35 . DOI: 10.3901/JME.2018.17.028

References

[1] 李建民,王树新,张建勋,等. 微创手术机器人控制策略[J]. 天津大学学报,2011,44(10):884-889. LI Jianmin,WANG Shuxin,ZHANG Jianxun,et al. Control strategies of minimally invasive surgery robot[J]. Journal of Tianjin University,2011,44(10):884-889.
[2] FLORA E D,WILSON T G,MARTIN I J,et al. A review of natural orifice translumenal endoscopic surgery (NOTES) for intra-abdominal surgery:Experimental models,techniques,and applicability to the clinical setting[J]. Annuals of Surgery,2008,247(4):583-602.
[3] 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 type of assisted robot in minimally invasive endoscopic surgery "MicroHand A"[J]. Robot Technique and Application,2011(4):17-21.
[4] ZUO S,WANG S. Current and emerging robotic assisted intervention for NOTES[J]. Expert Review of Medical Devices,2016,13(12):1095-1105.
[5] THOMPSON C C,RYOU M,SOPER N J,et al. Evaluation of a manually driven,multitasking platform for complex endoluminal and natural orifice transluminal endoscopic surgery applications (with video)[J]. Gastrointestinal Endoscopy,2009,70(1):121-125.
[6] DING J,XU K,GOLDMAN R,et al. Design,simulation and evaluation of kinematic alternatives for insertable robotic effectors platforms in single port access surgery[C]//IEEE International Conference on Robotics and Automation,May 3-8,2010,Anchorage Convention District,Anchorage,Alaska,Piscataway:IEEE,2010:1053-1058.
[7] PICCIGALLO M,SCARFOGLIERO U,QUAGLIA C,et al. Design of a novel bimanual robotic system for single-port laparoscopy[J]. IEEE/ASME Transactions on Mechatronics,2010,15(6):871-878.
[8] SHAIKH S N,THOMPSON C C. Natural orifice translumenal surgery:Flexible platform review[J]. World Journal of Gastrointestinal Surgery,2010,2(6):210-216.
[9] KIM Y J,CHENG S,KIM S,et al. A stiffness-adjustable hyperredundant manipulator using a variable neutral-line mechanism for minimally invasive surgery[J]. IEEE Transactions on Robotics,2014,30(2):382-395.
[10] KIM Y J,CHENG S,KIM S,et al. A novel layer jamming mechanism with tunable stiffness capability for minimally invasive surgery[J]. IEEE Transactions on Robotics,2013,29(4):1031-1042.
[11] PETTERSSON A,DAVIS S,GRAY J O,et al. Design of a magnetorheological robot gripper for handling of delicate food products with varying shapes[J]. Journal of Food Engineering,2010,98(3):332-338.
[12] CHEN J,LIAO W H. Design and control of a Magnetorheological actuator for leg exoskeleton[C]//IEEE International Conference on Robotics and Biomimetics. December 15-18,2007,Sanya,Piscataway:IEEE,2007:1388-1393.
[13] ZHAO R,YAO Y,LUO Y. Development of a variable stiffness over tube based on low-melting-point-alloy for endoscopic surgery[J]. Journal of Medical Devices,2016,10(2):303-310.
[14] WANG J,WANG S,LI J,et al. Development of a novel robotic platform with controllable stiffness manipulation arms for laparoendoscopic single-site surgery (LESS)[J]. International Journal of Medical Robotics + Computer Assisted Surgery Mrcas,2017(5):e1838.
[15] LI J,LI X,WANG J,et al. Design and evaluation of a variable stiffness manual operating platform for laparoendoscopic single site surgery (LESS)[J]. International Journal of Medical Robotics + Computer Assisted Surgery Mrcas,2017:e1797.
[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] AMEND J R,BROWN E,RODENBERG N,et al. A positive pressure universal gripper based on the jamming of granular material[J]. IEEE Transactions on Robotics,2012,28(2):341-350.
[18] LOEVE A J,PLETTENBURG D H,BREEDVELD P,et al. Endoscope shaft-rigidity control mechanism:"FORGUIDE"[J]. IEEE Transactions on Bio-medical Engineering,2012,59(2):542-551.
[19] ZUO S,ⅡJIMA K,TOKUMIYA T,et al. Variable stiffness outer sheath with "Dragon skin" structure and negative pneumatic shape-locking mechanism[J]. International Journal of Computer Assisted Radiology & Surgery,2014,9(5):857-865.
[20] YAGI A,MATSUMIYA K,MASAMUNE K,et al. Rigid-flexible outer sheath model using slider linkage locking mechanism and air pressure for endoscopic surgery[C]//Miccai International Conference on Medical Image Computing & Computer-assisted Intervention,2006,Copenhagen,Denmark,2006:503-510.
[21] ARJO J. L,JOHANNES H. B,PAUL B,et al. Polymer rigidity control for endoscopic shaft-guide "Plastolock"-a feasibility study[J]. Journal of Medical Devices,2010,4(4):045001.
[22] CHENAL T P,CASE J C,PAIK J,et al. Variable stiffness fabrics with embedded shape memory materials for wearable applications[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). September 14-18,2014,Chicago,Piscataway:IEEE,2014:2827-2831.
[23] 余永辉,关富玲,陈向阳. 可展桁架运动过程动力学模拟[J]. 计算力学学报,2005,22(2):197-201. YU Yonghui,GUAN Fuling,CHEN Xiangyang. Dynamic simulation for deployable trusses[J]. Chinese Journal of Computational Mechanics,2005,22(2):197-201.
[24] DENG Q,LI B,HUANG H L,et al. Design and analysis of a tapered deployable mast[J]. Key Engineering Materials,2011,450:31-34.
[25] PIEROT L. Flow diverter stents in the treatment of intracranial aneurysms:Where are we?[J]. Journal of Neuroradiology,2011,38(1):40-46.
[26] DE B M,VAN C S,MORTIER P,et al. Virtual optimization of self-expandable braided wire stents[J]. Medical Engineering & Physics,2009,31(4):448-453.
[27] HU J. 3-D fibrous assemblies:Properties,applications and modeling of three-dimensional textile structures[M]. Boca Raton:CRC Press,Woodhead Pub. 2008.
[28] 郑萌,罗鑫,陈婧泠,等. 医用热熔胶的研究与应用[J]. 中国组织工程研究,2016,20(38):5758-5763. ZHENG Meng,LUO Xin,CHEN Jingling,et al. Hot-melt adhesives for medical applications[J]. Chinese Journal of Tissue Engineering Research,2016,20(38):5758-5763.
[29] WAHL A M. Mechanical spring[M]. 2nd ed. New York:McGraw-Hill,1963.
[30] 张会英. 弹簧[M]. 北京:机械工业出版社,1982. ZHANG Yinghui. Spring[M]. Beijing:China Machine Press,1982.
[31] 贾启芬,刘习军. 理论力学-第2版[M]. 北京:机械工业出版社,2007. JIA Qifen,LIU Xijun. Theoretical mechanics[M]. 2nd ed. Beijing:China Machine Press,2007.
[32] 王世斌,亢一澜,王燕群,等. 材料力学[M]. 北京:高等教育出版社,2008. WANG Shibin,KANG Yilan,WANG Yanqun,et al. Mechanics of materials[M]. Beijing:Higher Education Press,2008.
[33] HELLIER D,ALBERMANI F,EVANS B,et al. Flexural and torsional rigidity of colonoscopes at room and body temperatures[J]. Proceedings of the Institution of Mechanical Engineers Part H Journal of Engineering in Medicine,2011,225(225):389-399.
[34] OKAMURA A M,SIMONE C,O'LEARY M D. Force modeling for needle insertion into soft tissue[J]. IEEE Transactions on Bio-medical Engineering,2004,51(10):1707-1716.
[35] 杨世铭. 传热学基础-第2版[M]. 北京:高等教育出版社,2003. YANG Shiming. Basics of heat transfer[M]. 2nd ed. Beijing:Higher Education Press,2003.
Options
Outlines

/

〈 〉

　 Copyright © Journal of Mechanical Engineering, All Rights Reserved.
Powered by Beijing Magtech Co. Ltd,.