基于纤维包覆式气动结构的柔性手术臂刚度调节性能研究

doi:10.3901/JME.2018.17.046

机械工程学报 ›› 2018, Vol. 54 ›› Issue (17): 46-52.doi: 10.3901/JME.2018.17.046

• 特邀专栏：精准微创手术器械创成与制造基础 • 上一篇下一篇

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基于纤维包覆式气动结构的柔性手术臂刚度调节性能研究

徐晓亮¹, 王永泉¹, 温坤¹, 陈花玲¹, 王树新², 李涤尘^1,3

1. 西安交通大学机械工程学院西安 710049;
2. 天津大学机构理论与装备设计教育部重点实验室天津 300350;
3. 西安交通大学机械制造系统工程国家重点实验室西安 710049

收稿日期:2018-01-04 修回日期:2018-05-29 出版日期:2018-09-05 发布日期:2018-09-05
通讯作者: 李涤尘(通信作者),男,1964年出生,博士,教授,博士研究生导师。主要研究方向为增材制造与生物制造。E-mail:dcli@mail.xjtu.edu.cn
作者简介:徐晓亮,男,1993年出生。主要研究方向为面向微创手术的可调刚度线驱动软体操作臂。E-mail:1404349898@qq.com
基金资助:
国家自然科学基金资助项目（51290294，51290293）。

Research on the Rigidity Adjustment Performance of Flexible Surgical Arm Based on Fiber-coated Pneumatic Structure

XU Xiaoliang¹, WANG Yongquan¹, WEN Kun¹, CHEN Hualing¹, WANG Shuxin², LI Dichen^1,3

1. School of Mechanical Engineering, Xi'an Jiaotong University, Xi'an 710049;
2. Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin 300350;
3. State Key Laboratory of Mechanical Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049

Received:2018-01-04 Revised:2018-05-29 Online:2018-09-05 Published:2018-09-05

摘要/Abstract

摘要： 针对未来微创手术操作臂的发展需求，提出了一种利用负压原理来增强离散结构间相互作用以实现柔性手术操作臂刚度调节的方法。据此设计制作了可包覆于管状柔性手术臂外表面的气动型多层纤维束编织结构，可通过抽真空使被密封的纤维束夹层内产生负压，增大轴向交错叠加的纤维丝之间的挤压力与摩擦力，从而起到刚度增强的作用。研究了大变形手术臂抗弯刚度的半解析计算方法。开展了该变刚度柔性手术臂结构性能的试验研究，探索了真空度、纤维丝结构参数（丝径和纤维丝表面粗糙度）、封装膜厚度及纤维层截面等因素对手术臂刚度的影响规律，为柔性手术臂的变刚度设计、优化提供了依据。

关键词: 负压, 刚度调节, 柔性手术臂, 纤维束(丝), 阻塞

Abstract: In view of the future development requirements of the minimally invasive surgical arm, a method using the principle of negative pressure to enhance the interactions between discrete structures is proposed to adjust the stiffness of flexible surgical arms. A pneumatic multilayered fiber braid structure is specially designed and fabricated, cladded on the outer surface of the tube arm. For this structure, negative pressure can be obtained in the interlayer of the sealed fiber filaments by a vacuum pump, and the extrusion pressure and friction force between them increase consequently, leading to a stiffness enhancement of the arm. A semi-analytical method for quantitatively evaluate the flexural stiffness of the large-deformed arm is then studied. Finally, the experimental investigations are performed, focused on the influences of some key parameters on the stiffness adjustment effect of the arm, such as vacuum degree, the size of fiber filaments, the thickness of the packaging film, the cross section of the fiber layer, etc.

Key words: fiber filaments, flexible surgical arm, jamming, negative pressure, stiffness adjustment

中图分类号:

TB381
TB34

徐晓亮, 王永泉, 温坤, 陈花玲, 王树新, 李涤尘. 基于纤维包覆式气动结构的柔性手术臂刚度调节性能研究[J]. 机械工程学报, 2018, 54(17): 46-52.

XU Xiaoliang, WANG Yongquan, WEN Kun, CHEN Hualing, WANG Shuxin, LI Dichen. Research on the Rigidity Adjustment Performance of Flexible Surgical Arm Based on Fiber-coated Pneumatic Structure[J]. Journal of Mechanical Engineering, 2018, 54(17): 46-52.

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基于纤维包覆式气动结构的柔性手术臂刚度调节性能研究

Research on the Rigidity Adjustment Performance of Flexible Surgical Arm Based on Fiber-coated Pneumatic Structure

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