摘要
现有手术操作臂多采用刚性直杆结构,难以满足未来自然腔道微创手术的需求。为解决这一关键问题,结合气动人工肌肉技术及纤维堵塞刚度调节机理,设计一种具有多自由度运动和刚度可调能力的手术操作臂。研究获得操作臂单元的一体化制造工艺。搭建试验测试系统,测试获得气动人工肌肉驱动器弯曲变形及输出力与驱动气压的非线性关系。进一步研究操作臂单元的抗弯能力与负压、纤维疏密程度及纤维排布方式等参数的关系,得到优化的设计方案。实现操作臂在复杂环境下的多自由度绕障及刚度调节功能。
Conventional surgical manipulators are in straight-bar shape and made of rigid materials mostly, which fail to adapt to the minimally invasive surgical operation using natural orifices. Therefore, a flexible surgical manipulator, with multi-DOF deformation and variable stiffness abilities via pneumatic artificial muscle actuation and fiber jamming techniques, is presented. The integrated manufacturing process of the manipulator unit is developed. An experimental test system is set up to obtain the nonlinear relationships between the bending deformation, output force of the pneumatic artificial muscle actuator and the air pressure. The relationships between anti-bending ability of a single unit and negative pressure, fiber density and fiber arrangement are further studied. The optimized design scheme is obtained. Within a complex system, the multi-DOF deformation in obstacle-avoiding and the stiffness tunability of the manipulator are demonstrated.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2018年第17期53-61,共9页
Journal of Mechanical Engineering
基金
国家自然科学基金(51290294,51290293,91748124)
流体动力与机电系统国家重点实验室开放基金课题(GZKF-201508)资助项目
关键词
气动人工肌肉
纤维堵塞
刚度可调
微创手术
pneumatic artificial muscle
fiber jamming
variable stiffness
minimally invasive surgery