A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery
Author(s)Kim, Yong-Jae; Cheng, Shanbao; Kim, Sangbae; Iagnemma, Karl
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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.
DepartmentMassachusetts Institute of Technology. Department of Mechanical Engineering
IEEE Transactions on Robotics
Institute of Electrical and Electronics Engineers (IEEE)
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.
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