A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery
Name
Variable Neutralline manipulator having adjustable stiffness capability_v10_After Review_2.pdf
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8.32 MB
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Author(s)
Kim, Yong-Jae
Cheng, Shanbao
Kim, Sangbae
Iagnemma, Karl
Date Issued
April 2014
Journal
IEEE Transactions on Robotics
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Kim, Yong-Jae, Shanbao Cheng, Sangbae Kim, and Karl Iagnemma. “A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery.” IEEE Transactions on Robotics 30, no. 2 (April 2014): 382–395.
Version
Author's final manuscript
Abstract
In robotic single-port surgery, it is desirable for a manipulator to exhibit the property of variable stiffness. Small-port incisions may require both high flexibility of the manipulator for safety purposes, as well as high structural stiffness for operational precision and high payload capability. This paper presents a new hyperredundant tubular manipulator with a variable neutral-line mechanisms and adjustable stiffness. A unique asymmetric arrangement of the tendons and the links realizes both articulation of the manipulator and continuous stiffness modulation. This asymmetric motion of the manipulator is compensated by a novel actuation mechanism without affecting its structural stiffness. The paper describes the basic mechanics of the variable neutral-line manipulator, and its stiffness characteristics. Simulation and experimental results verify the performance of the proposed mechanism.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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DOI of Published Version
https://doi.org/10.1109/tro.2013.2287975
