Design and Optimization of Continuum Robot Configuration for Single-port Laparoscopic Surgery

doi:10.3901/JME.2023.23.055

Abstract

Abstract: Aiming at the problems of insufficient rigidity, poor load capacity and low flexibility of existing single-port laparoscopic flexible surgical robots, a design scheme of notched continuum robot manipulator is proposed. Considering that the stiffness and flexibility of flexible robots are difficult to improve at the same time, the model structure and size parameters are optimized by layer-Wise theory and Lagrangian multiplier method. Based on the I-type crack model and stress strength analysis, the position restriction form of the traction line of the tendon-drive robot is optimized. Based on the relationship diagram of the notch size and the maximum bendable angle of the continuum as well as the finite element analysis, the optimization method of the notch size is proposed. The feasibility and effectiveness of each optimization scheme are verified by prototype testing. The results of experiments show that the end offset error of the optimized robotic manipulator is within 0.5 mm under the load of 0.5 N, and the average offset error under the end load of 0.5 N is 0.27 mm within the range of 90° bending angle of the flexible body. Experiments show that the proposed optimized sandwiching-notched robot has greater stiffness and load capacity, and still has good control accuracy after loading instruments in actual surgical applications.

Key words: notched continuum, configuration design, flexible manipulator optimization

CLC Number:

TP242

PAN Qiqi, WANG Hongbo, LUO Jingjing, WANG Fuhao. Design and Optimization of Continuum Robot Configuration for Single-port Laparoscopic Surgery[J]. Journal of Mechanical Engineering, 2023, 59(23): 55-67.

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