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

doi:10.3901/JME.2018.17.046

Journal of Mechanical Engineering ›› 2018, Vol. 54 ›› Issue (17): 46-52.doi: 10.3901/JME.2018.17.046

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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

Abstract

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

CLC Number:

TB381
TB34

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

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