柔性驱动与刚度可调结构/功能一体化微创手术操作臂设计制造与性能研究

doi:10.3901/JME.2018.17.053

机械工程学报 ›› 2018, Vol. 54 ›› Issue (17): 53-61.doi: 10.3901/JME.2018.17.053

• 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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柔性驱动与刚度可调结构/功能一体化微创手术操作臂设计制造与性能研究

陈煜宇¹, 刘磊^1,2, 李博¹, 魏超¹, 王树新³, 李涤尘¹

1. 西安交通大学机械制造系统工程国家重点实验室西安 710049;
2. 浙江大学流体动力与机电系统国家重点实验室杭州 310027;
3. 天津大学机构理论与装备设计教育部重点实验室天津 300350

收稿日期:2018-01-09 修回日期:2018-05-11 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:陈煜宇,男,1992年出生。主要研究方向为软体机器人。E-mail:chenyuyu@stu.xjtu.edu.cn
基金资助:
国家自然科学基金（51290294，51290293，91748124）和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。

Design, Fabrication and Performance of a Flexible Minimally Invasive Surgery Manipulator Integrated with Soft Actuation and Variable Stiffness

CHEN Yuyu¹, LIU Lei^1,2, LI Bo¹, WEI Chao¹, WANG Shuxin³, LI Dichen¹

1. State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an 710049;
2. State Key Laboratory of Fluid Power and Mechanic Systems, Zhejiang University, Hangzhou 310027;
3. Key Laboratory of Mechanism Theory and Equipment Design of the Ministry of Education, Tianjin University, Tianjin 300350

Received:2018-01-09 Revised:2018-05-11 Online:2018-09-05 Published:2018-09-05

摘要/Abstract

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。

关键词: 刚度可调, 气动人工肌肉, 微创手术, 纤维堵塞

Abstract: 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.

Key words: fiber jamming, minimally invasive surgery, pneumatic artificial muscle, variable stiffness

中图分类号:

TP242

陈煜宇, 刘磊, 李博, 魏超, 王树新, 李涤尘. 柔性驱动与刚度可调结构/功能一体化微创手术操作臂设计制造与性能研究[J]. 机械工程学报, 2018, 54(17): 53-61.

CHEN Yuyu, LIU Lei, LI Bo, WEI Chao, WANG Shuxin, LI Dichen. Design, Fabrication and Performance of a Flexible Minimally Invasive Surgery Manipulator Integrated with Soft Actuation and Variable Stiffness[J]. Journal of Mechanical Engineering, 2018, 54(17): 53-61.

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柔性驱动与刚度可调结构/功能一体化微创手术操作臂设计制造与性能研究

Design, Fabrication and Performance of a Flexible Minimally Invasive Surgery Manipulator Integrated with Soft Actuation and Variable Stiffness

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