基于SMA驱动的连续体手术机器人研究综述

doi:10.3901/JME.2021.11.138

机械工程学报 ›› 2021, Vol. 57 ›› Issue (11): 138-152.doi: 10.3901/JME.2021.11.138

• 特邀专栏：生物组织精准手术器械设计制造 • 上一篇下一篇

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基于SMA驱动的连续体手术机器人研究综述

严鲁涛¹, 王琦¹, 李海源¹, 李端玲¹, 夏继强²

1. 北京邮电大学自动化学院北京 100876;
2. 北京航空航天大学机械工程及自动化学院北京 100191

收稿日期:2020-10-15 修回日期:2021-03-05 出版日期:2021-07-23 发布日期:2021-07-23
通讯作者: 李端玲(通信作者),女,1974年出生,博士,教授,博士研究生导师。主要研究方向为机构学及机器人学。E-mail:liduanling@126.com
作者简介:严鲁涛,男,1984年出生,博士,副教授,硕士研究生导师。主要研究方向为连续体机器人系统、智能材料及仿生结构、智能绿色制造。E-mail:yanlt@bupt.edu.cn;王琦,男,1996年出生,硕士研究生。主要研究方向为形状记忆合金驱动的连续体机器人。E-mail:yxwq6318@163.com;李海源,男,1986年出生,博士,高级工程师,硕士研究生导师。主要研究方向为医疗手术与遥操作机器人、灵巧手与灵巧操作机器人、模块化自重构机器人。E-mail:lihaiyuan@bupt.edu.cn;夏继强,男,1970年出生,博士,副教授,硕士研究生导师。主要研究方向为机电控制、智能制造。E-mail:xiajiqiang@buaa.edu.cn
基金资助:
国家重点研发计划（2018YFB1304602，2019YFC0119203）和国家自然科学基金（62003048）资助项目。

Review of Continue Surgical Robot Actuated by SMA

YAN Lutao¹, WANG Qi¹, LI Haiyuan¹, LI Duanling¹, XIA Jiqiang²

1. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876;
2. School of Mechanical Engineering and Automation, Beihang University, Beijing 100191

Received:2020-10-15 Revised:2021-03-05 Online:2021-07-23 Published:2021-07-23

摘要/Abstract

摘要： 连续体机器人是一种能在工作空间中连续弯曲的机器人，因其能在非结构化和狭窄的环境中灵活运动而得到广泛的关注。形状记忆合金（Shape memory alloy，SMA）材料具有良好的形状记忆效应和超弹性，通过施加不同的温度便能够实现对SMA的形状控制，是作为连续体机器人驱动装置的理想材料。基于SMA驱动的连续体机器人有着结构体积小，控制简便，运动范围广，自由度高，易于避障等优点，十分适用于环境复杂的医疗手术环境之中。对SMA的驱动原理和方式进行了分析，介绍了基于SMA驱动的连续体机器人在医疗手术方面的研究现状及建模方法，最后，对发展趋势进行了展望。

关键词: 连续体机器人, SMA, 医疗手术, 驱动方法, 建模分析

Abstract: Continuous robot is a kind of robot that can continuously bend in the working space. It is widely concerned because it can move flexibly in the unstructured and narrow environment. Shape memory alloy (SMA) material has excellent shape memory effect and superplastic, and can be controlled by applying different temperature, so it is an ideal material for continuous robot actuating device. SMA driven continuous robot has the advantages of small structure, simple control, wide range of motion, high degree of freedom, easy to avoid obstacles, and so on. It is very suitable for the complex environment of medical surgery. In this paper, the actuating principle and mode of SMA are analyzed, the research status and modeling method of SMA driven continuous robot in medical surgery are reviewed. Finally, the development trends of the robot are prospected.

Key words: continuum robotics, SMA, medical surgery, actuation methods, modeling analysis

中图分类号:

TP242

严鲁涛, 王琦, 李海源, 李端玲, 夏继强. 基于SMA驱动的连续体手术机器人研究综述[J]. 机械工程学报, 2021, 57(11): 138-152.

YAN Lutao, WANG Qi, LI Haiyuan, LI Duanling, XIA Jiqiang. Review of Continue Surgical Robot Actuated by SMA[J]. Journal of Mechanical Engineering, 2021, 57(11): 138-152.

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基于SMA驱动的连续体手术机器人研究综述

Review of Continue Surgical Robot Actuated by SMA

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