Design and Kinematic Modeling of In-Situ Torsionally-Steerable Flexible Surgical Robots

Kong, Yixuan; Song, Shuang; Zhang, Ning; Wang, Jiaole; Li, Bing

doi:10.1109/lra.2022.3142920

Cited by 8 publications

(2 citation statements)

References 30 publications

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“…The vibration of the flexible structural component such as the solar panels and the power generation blades during transportation is the key factor that affects the efficiency and quality of the robotic handling system [1,2]. During the transportation process, the robot simultaneously induces the elastic vibrations of flexible structural component, which can easily lead to its vibration damage [3,4].…”

Section: Introductionmentioning

confidence: 99%

Design and performance analysis of a robot flexible connection device based on quasi-zero-stiffness mechanism

Ju,

Ji,

Liu

2024

Preprint

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For suppressing the vibration excitation transmission from the robot to the elastic component during robotic handling, a new type of quasi-zero-stiffness flexible connection device (QZSCD) is designed. By introducing the tilt linkage on the basis of traditional quasi-zero-stiffness isolator with three oblique springs, the QZSCD can actively adapt to varying load conditions. According to the static equilibrium relationship, the conditions that the QZSCD has zero-stiffness at the equilibrium position are obtained. Then, the optimal structure parameters of the QZSCD are determined based on maximizing the system quasi-zero-stiffness interval. And the quantitative relationship between the angle of the tilt linkage and the load mass is investigated. Furthermore, a unified dynamic equation for the QZSCD under varying load conditions is established. The influences of the structural parameters, the tilt linkage angle, and the load mass on the vibration response and displacement transmission characteristics of the QZSCD are analyzed. Simulation and experimental results indicate that by actively adjusting the tilt linkage angle, the QZSCD can ensure good vibration transmission suppression performance under varying load conditions during the robotic handling of the elastic component.

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Section: Introductionmentioning

confidence: 99%

Design and performance analysis of a robot flexible connection device based on quasi-zero-stiffness mechanism

Ju,

Ji,

Liu

2024

Preprint

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show abstract

“…Nonetheless, the dexterity of flexible manipulators is typically limited in terms of torsional motion. In-situ torsional motion supports the manipulator to be rotated while keeping the distal direction unchanged, which can effectively improve the dexterity of the manipulator [10,11]. However, in-situ torsional motion requires high torsional stiffness for the flexible manipulators to transmit torque, which is challenging for the design of flexible manipulators.…”

Section: Introductionmentioning

confidence: 99%

Development of a Novel Ball-and-Socket Flexible Manipulator for Minimally Invasive Flexible Surgery

Song

et al. 2023

IEEE Trans. Med. Robot. Bionics

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This work proposes a novel flexible manipulator consisting of a series of 2-DOF vertebrae based on a ball-andsocket joint that is connected by a ball-shaped surface and a cupshaped socket and constrained by pins for circumferential rotation. This manipulator can demonstrate outstanding torsional stiffness since the circumferential rotation between the vertebrae is constrained by four ball pins. The point contact between ball pins and guideways effectively reduces the friction between the vertebrae, thus allowing the designed manipulator to yield a smooth bending shape with constant curvature. This manipulator features high axial and torsional stiffness, excellent bending performance, sufficient loading capacity, and convenient integration with surgical instruments. Moreover, the excellent torsional stiffness enables this manipulator to efficiently transfer torque and be applied in in-situ torsional motion, effectively addressing the typical issue of limited dexterity for torsional motion. The kinematic modeling of the proposed manipulator under in-situ torsional motion has been derived, and its workspace has been analyzed. A robotic system has been assembled, and experiments have verified the proposed design and modeling validity. The results show that the maximum position errors in bending motion are 2.39% (horizontal direction) and 1.98% (vertical direction), and its torsional stiffness is 21.13N•mm/deg, which is 46 times higher than that of a typical spherical flexible manipulator (SFM). Such merits support this manipulator excellently performing the in-situ torsional motion with a maximum average position error of 3.58%. Furthermore, a phantom test of the larynx has been performed to verify the potential of clinical feasibility.

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Variable stiffness methods of flexible robots for minimally invasive surgery: A review

Lin,

Song,

Wang

2024

Biomimetic Intelligence and Robotics

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Design and Kinematic Modeling of In-Situ Torsionally-Steerable Flexible Surgical Robots

Cited by 8 publications

References 30 publications

Design and performance analysis of a robot flexible connection device based on quasi-zero-stiffness mechanism

Design and performance analysis of a robot flexible connection device based on quasi-zero-stiffness mechanism

Development of a Novel Ball-and-Socket Flexible Manipulator for Minimally Invasive Flexible Surgery

Variable stiffness methods of flexible robots for minimally invasive surgery: A review

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