Abstract
The continuum manipulators, which have gradually become a research hotspot of minimally invasive surgery have the characteristics of small size, lightweight, and better environmental adaptability. In this paper, a two degrees of freedom continuum manipulator with notches is proposed. The kinematic and mechanical models of the notch continuum manipulator are coupled. The output driving force of the motor is needed to control the manipulator. Due to the drift of the current of the motor, the accuracy of the control is low. In order to solve the above problem, the constant curvature assumption is realized by changing the structural parameters of the notches. The continuum manipulator mechanics model is established through the analysis of the continuum manipulator structure. The calculation of the deformation angle of a single notch of the manipulator is carried out. The overall deformation of the manipulator is derived through iterative algorithms. The stiffness of the continuum manipulator, which can affect the deformation of the continuum manipulator is modified by changing the structural parameters. In this way, the problem of the non-constant curvature deformation under the uniform notch of the continuum manipulator is improved. And the effectiveness of the variable stiffness model is verified by simulation experiments.
Highlights
Surgery refers to the treatment of a patient’s body by means of a medical device, such as resection, suturing, etc, and its inherent property is to bring trauma to the patient
The continuum manipulator is bent by the push-pull of nested tubes and the kinematic modeling is established using the assumption of constant curvature
Wuzhou et al established a multi-joint stacked sinus surgery continuum manipulator [22], [23] that uses the assumption of piecewise constant curvature to achieve kinematic modeling
Summary
Surgery refers to the treatment of a patient’s body by means of a medical device, such as resection, suturing, etc, and its inherent property is to bring trauma to the patient. Kai et al combined the serpentine joint with the bellows to improve the torsional stiffness of the joint, and the load capacity of the single joint reached 2N [14]–[17] They all applied the constant curvature assumption to model the kinematics of the continuum manipulator [16]. Wuzhou et al established a multi-joint stacked sinus surgery continuum manipulator [22], [23] that uses the assumption of piecewise constant curvature to achieve kinematic modeling. Based on the above problems and the advantages of the constant curvature assumption, a scheme of changing the structural parameters between the notches is employed to reduce the difference in the deformation angles of the notches from each other It enables manipulator control in the form of equal curvature.
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