Review of Continue Surgical Robot Actuated by SMA

doi:10.3901/JME.2021.11.138

Abstract

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

CLC Number:

TP242

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.

Add to citation manager EndNote|Reference Manager|ProCite|BibTeX|RefWorks

URL: http://www.cjmenet.com.cn/EN/10.3901/JME.2021.11.138

http://www.cjmenet.com.cn/EN/Y2021/V57/I11/138

References

[1] 孙立宁,胡海燕,李满天. 连续型机器人研究综述[J]. 机器人,2010,32(5):688-694.SUN Lining,HU Haiyan,LI Mantian. A review on continuum robot[J]. Robot,2010,32(5):688-694.
[2] 王田苗,郝雨飞,杨兴帮,等. 软体机器人:结构,驱动,传感与控制[J]. 机械工程学报,2017,53(13):1-13. WANG Tianmiao,HAO Yufei,YANG Xingbang,et al. Soft robotics:Structure,actuation,sensing andcontrol[J]. Journal of Mechanical Engineering,2017,53(13):1-13.
[3] 文力,王贺升. 软体机器人研究展望:结构、驱动与控制[J]. 机器人,2018,40(5):577-577.WEN Li,WANG Hesheng. Outlook on soft robot research:Structure,drive and control[J]. Robot,2018,40(5):577-577.
[4] JORGE B D,DONG X,AXINTE D,et al. Real-time kinematics of continuum robots:Modelling and validation[J]. Robotics and Computer-Integrated Manufacturing,2020,67:102019.
[5] WANG M,DONG X,BA W,et al. Design,modelling and validation of a novel extra slender continuum robot for in-situ inspection and repair in aeroengine[J].Robotics and Computer-Integrated Manufacturing,2020:102054.
[6] SUN P,LI Y B,WANG Z S,et al. Inverse displacement analysis of a novel hybrid humanoid robotic arm[J]. Mechanism and Machine Theory,2020,147:103743.
[7] 王天然. 机器人技术的发展[J]. 机器人,2017, 39(4):385-386.WANG Tianran. The development of robotics[J]. Robot,2017,39(4):385-386.
[8] 倪自强,王田苗,刘达. 医疗机器人技术发展综述[J].机械工程学报,2015,51(13):45-52.NI Ziqiang,WANG Tianmiao,LIU Da. Survey on medical robotics[J]. Journal of Mechanical Engineering,2015,51(13):45-52.
[9] ZHENG G C,QIN C,FAN S,et al. Pilot study of a surgical robot system for zygomatic implant placement[J]. Medical Engineering & Physics,2020,75:72-78.
[10] 赵德朋,刘达. 血管介入手术机器人系统力反馈的模糊融合[J]. 机器人,2013,35(1):60-66.ZHAO Depeng,LIU Da. Fuzzy fusion of forces feedback in vascular interventional surgery robot system[J]. Robot,2013,35(1):60-66.
[11] CHISTHI M M. Commentary on ‘Chinese Surgical Robot Micro Hand S:A Consecutive Case Series in General Surgery’[J]. International Journal of Surgery (London,England),2020,76.
[12] ZHAO J,FENG B,ZHENG M H,et al. Surgical robots for SPL and NOTES:A review[J]. Minimally Invasive Therapy,2015,24(1):8-17.
[13] BURGNER K J,RUCKER D C,CHOSET H. Continuum robots for medical applications:A survey[J]. IEEE Transactions on Robotics,2015,31(6):1261-1280.
[14] XU K,SIMAAN N. Actuation compensation for flexible surgical snake-like robots with redundant remote actuation[C]//Robotics and Automation,2006. ICRA 2006. Proceedings 2006 IEEE International Conference on. IEEE,2006.
[15] XU Kai,NABIL S. Analytic formulation for kinematics,statics,and shape restoration of multibackbone continuum robots via elliptic integrals[J]. Journal of Mechanisms and Robotics,2010,2(1):011006.
[16] 张润玺,王贺升,陈卫东. 仿章鱼软体机器人形状控制[J]. 机器人,2016,38(6):754-759.ZHANG Runxi,WANG Hesheng,CHEN Weidong. Shape control for a soft robot inspired by octopus[J]. Robot,2016,38(6):754-759.
[17] 周圆圆,李建华,郭明全,等. 连续体单孔手术机器人的建模与优化分析[J]. 机器人,2020,42(3):316-324.ZHOU Yuanyuan,LI Jianhua,GUO Mingquan,et al. Modeling and optimization analysis of a continuumrobot for single-port surgery[J]. Robot,2020,42(3):316-324.
[18] SHEN W,YANG G,ZHENG T,et al. An accuracy enhancement method for a cable-driven continuumrobot with a flexible backbone[J]. IEEE Access,2020,P(99):1-1.
[19] JORGE B D,DONG X,AXINTE D,et al. Real-Time Kinematics of Continuum Robots:Modelling and Validation[J]. Robotics and Computer-Integrated Manufacturing,2020,67.
[20] ALICI G,CANTY T,MUTLU R,et al. Modeling and experimental evaluation of bending behavior of soft pneumatic actuators made of discrete actuation chambers[J]. Soft Robot,2018,5(1):24-35.
[21] HAM R V,SUGAR T,VANDERBORGHT B,et al. Review of actuators with passive adjustable compliance/controllable stiffness for robotic applications[J]. IEEE Robot. Autom. Mag.,2009,16(3):81-94.
[22] SHAN W,LU T,MAJIDI C. Soft-matter composites with electrically tunable elastic rigidity[J]. Smart Material Structures,2013,22(8):085005.
[23] KOIRI M K,SHARMA A K,SINGH R K. Design of SMA based electro-hydraulic/pneumatic actuated robotic octopus arm[C]//2020 International Conference on Contemporary Computing and Applications (IC3A). 2020.
[24] DENG T,WANG H,CHEN W,et al. Development of a new cable-driven soft robot for cardiac ablation[C]//IEEE International Conference on Robotics & Biomimetics. IEEE,2013.
[25] RANZANI T,GERBONI G,CIANCHETTI M,et al. A bioinspired soft manipulator for minimally invasive surgery[J]. Bioinspiration & Biomimetics,2015,10(3):035008.
[26] MARGHERI L,LASCHI C,MAZZOLAI B. Soft robotic arm inspired by the octopus:I. From biological functions to artificial requirements[J]. Bioinspiration & Biomimetics,2012,7(2):025004.
[27] MODABBERIFAR M,SPENKO M. A shape memory alloy-actuated gecko-inspired robotic gripper[J]. Sensors and Actuators A:Physical,2018,276:76-82.
[28] HO T,LEE S. A Shape memory alloy-actuated bio-inspired mesoscale jumping robot[J]. International Journal of Advanced Robotic Systems,2012,9(3):1.
[29] PATEL S K,SWAIN B,ROSHAN R,et al. A brief review of shape memory effects and fabrication processes of NiTi shape memory alloys[J]. Materials Today:Proceedings,2020.
[30] LIU Y,DONG Z,YU L,et al. Influence of aging on shape memory effect and corrosion resistance of a new Fe-Mn-Si-based alloy[J]. Journal of Materials Research,2015,30(2):179-185.
[31] XIE X,KAN Q,KANG G,et al. Observation on rate-dependent cyclic transformation domain of super-elastic NiTi shape memory alloy[J]. Materials Science and Engineering A,2016,671(1):32-47.
[32] QIAO L,RADOVITZKY R. Computational modeling of size-dependent superelasticity of shape memory alloys[J]. Journal of the Mechanics and Physics of Solids,2016,93(8):93-117.
[33] 林廷艺. 浅谈形状记忆合金的应用及发展[J]. 世界有色金属,2019(11):178-180.LIN Tingyi. Application and development of shape memory alloys[J]. World Nonferrous Metals,2019(11):178-180.
[34] 邹娇. 基于形状记忆合金的软体爬行机器人结构设计及性能研究[D]. 镇江:江苏大学,2020.ZOU Jiao. Design and performance of SMA-basedsoft crawling robot[D]. Zhenjiang:Jingsu Uinversity, 2020.
[35] 沈丹平. 基于NiTi形状记忆合金的仿生灵巧手设计研究[D]. 西安:电子科技大学,2019.SHEN Danping. Research on bionic dexterous finger based on NiTi shape memory alloy[D]. Xi'an:University of Electronic Science and Technology,2019.
[36] KO J,JUN M B,GILARDI G,et al. Fuzzy PWM-PID control of cocontracting antagonistic shape memory alloy muscle pairs in an artificial finger[J]. Mechatronics,2011,21(7):1190-1202.
[37] HO M,MCMILLAN A B,SIMARD J M,et al. Towards a meso-scale SMA-actuated MRI-compatible neurosurgical robot[J]. IEEE Transactions on Robotics, 2012,28(1):213-222.
[38] PAI A,RIEPOLD M,TRACHTLER A. A model extended temperature and strain controller modulated with PWM for precision position control of shape memory alloy actuators[C]//2016 IEEE International Conference on Advanced Intelligent Mechatronics (AIM). IEEE,2016.
[39] 王扬威,兰博文,刘凯,等. 形状记忆合金丝驱动的柔性机械臂建模与实验[J]. 浙江大学学报,2018,52(4):21-27,66.WANG Yangwei,LAN Bowen,LIU Kai,et al. Modeling and experiment of flexible manipulator actuated by shape memory alloy wire[J]. Journal of Zhejiang Unibersity,2018,52(4):21-27,66.
[40] RUTH D J S,NAKSHATHARAN S S,DHANALAKSHMI K. Differential resistance feedback control of a self-sensing shape memory alloy actuated system[J]. Isa Transactions,2014,53(2):289-297.
[41] 杨茂. NiTi形状记忆合金电阻热驱动机理研究[D]. 西安:电子科技大学,2018.YANG Mao. Research on thermal driving mechanism of resistance of NiTi shape memory alloy[D]. Xi'an:University of Electronic Science and Technology,2018.
[42] YANG H,XU M,LI W,et al. Design and implementation of a soft robotic arm driven by SMA coils[J]. IEEE Transactions on Industrial Electronics,2019,66(8):6108-6116.
[43] 闫继宏,石培沛,张新彬,等. 软体机械臂仿生机理、驱动及建模控制研究发展综述[J]. 机械工程学报,2018.YAN Jihong,SHI Peipei,ZHANG Xinbin,et al. Review of biomimetic mechanism,actuation,modeling and control in soft manipulators[J]. Journal of Mechanical Engineering,2018.
[44] 张润玺,王贺升,陈卫东. 仿章鱼软体机器人形状控制[J]. 机器人,2016,38(6):754-759.ZHANG Runxi,WANG Hesheng,CHEN Weidong. Shape control of octopus-like soft robot[J]. Robot,2016,38(6):754-759.
[45] 张林飞,许旻,杨浩,等. 基于形状记忆合金驱动的柔性机械臂研究[J]. 机械与电子,2017,35(6):72-76.ZHANG Linfei,XU Min,YANG Hao,et al. Research on flexible manipulator driven by shape memory alloy[J]. Machinery and Electronics,2017,35(6):72-76.
[46] KIM Y,DESAI J P. Design and kinematic analysis of a neurosurgical spring-based continuum robot using SMA spring actuators[C]//IEEE/RSJ International Conference on Intelligent Robots & Systems. IEEE,2015.
[47] KIM Y,SHING S,DIAKITE M,et al. Toward the development of a flexible mesoscale MRI-compatible neurosurgical continuum robot[J]. IEEE Transactions on Robotics,2017,33(6):1386-1397.
[48] KIM Y,CHENG S S,DESAI J P. Active stiffness tuning of a spring-based continuum robot for MRI-guided neurosurgery[J]. IEEE Transactions on Robotics A Publication of the IEEE Robotics & Automation Society,2018,34(1):18.
[49] ALIREZA H,HOSSEIN A,BAHRAM T,et al. Developing a novel continuum module actuated byshape memory alloys[J]. Sensors & Actuators A Physical,2016.
[50] FU Y,LI X,LIU H,et al. Kinematics of micro bending robot using shape memory alloy for active catheter[C]//IEEE International Conference on Robotics & Biomimetics. IEEE,2007.
[51] LIU H,FU Y,YAN Z,et al. A dynamic model for the active catheter actuated by the shape memory alloy coil spring[C]//International Conference on Mechatronics & Automation. IEEE,2009.
[52] 颜增翼. 形状记忆合金驱动导管机器人的运动控制研究[D]. 哈尔滨:哈尔滨工业大学,2009.YAN Zengyi. Research on the motion control of shape memory alloy driven catheter robot[D]. Harbin:Harbin Institute of Technology,2009.
[53] SARS V D,HALIYO S,SZEWCZYK J. A practical approach to the design and control of active endoscopes[J]. Mechatronics,2010,20(2):251-264.
[54] SHENG J,DESAI J P. Towards a SMA-actuated neurosurgical intracerebral hemorrhage evacuation (NICHE) robot[C]//IEEE/RSJ International Conference on Intelligent Robots & Systems. IEEE,2015:3805-3810.
[55] ZHAO J,FENG B,ZHENG M H,et al. Surgical robots for SPL and NOTES:A review[J]. Minimally Invasive Therapy,2015,24(1):8-17.
[56] XU K,ZHAO J,FU M. Development of the SJTU unfoldable robotic system (SURS) for single port laparoscopy[J]. IEEE/ASME Transactions on Mechatronics,2015:2133-2145.
[57] XU K,ZHAO J,ZHENG X. Configuration comparison among kinematically optimized continuum manipulators for robotic surgeries through a single access port[J]. Robotica,2014:1-20.
[58] 田加文,王田苗,史震云,等. 仿象鼻机械臂的运动学分析及实验[J]. 机器人,2017,39(5):585-594.TIAN Jiawen,WANG Tianmiao,SHI Zhenyun,et al. Kinematic analysis and experiment of an elephant-trunk-like robot arm[J]. Robot,2017,39(5):585-594.
[59] JIANG S,CHEN B,QI F,et al. A variable-stiffness continuum manipulators by an SMA-based sheath in minimally invasive surgery[J]. The International Journal of Medical Robotics and Computer Assisted Surgery,2020,16(2):e2081.
[60] WANG S,ZHU Q,XIONG R,et al. Flexible robotic spine actuated by shape memory alloy[J]. International Journal of Advanced Robotic Systems,2014,11(1):1.
[61] 严鲁涛,王琦,李海源,等. 一种基于记忆合金的智能蛇形臂机器人系统:中国,201911326495.6[P]. 2019-12-20.YAN Lutao,WANG Qi,LI Haiyuan,et al. An intelligent snake-arm robot system based on memory alloy:China,201911326495.6[P]. 2019-12-20.
[62] SICILIANO B. Springer handbook of robotics[M]. New York:Springer,2007.
[63] CRAIG J J. Introduction to Robotics[J]. Proceedings of the IEEE,2005,1(2):108.
[64] 蔡自兴,谢斌.机器人学[D].北京:清华大学出版社,2015.CA Zixing,XIE Bin. Robotics[D]. Beijing:Tsinghua University Press,2015.
[65] 彭光宇,董洪波,马斌. 两种DH模型的机器人运动学建模对比研究[J]. 机械研究与应用,2019,32(6):62-65.PENG Guangyu,DONG Hongbo,MA Bin. Comparative Study of robot kinematics modeling based on two DH models[J]. Mechanical Research & Application,2019,32(6):62-65.
[66] LURA D,CAREY S,DUBEY R,et al. Robotic model for simulating upper body movement[C]//IEEE International Conference on Robotics & Biomimetics. IEEE,2009.
[67] JONES B A,WALKER I D. Practical kinematics for real-time implementation of continuum robots[J]. IEEE Transactions on Robotics,2006,22:1087-1099.
[68] III R J W,JONES B A. Design and kinematic modeling of constant curvature continuum robots:A review[J]. International Journal of Robotics Research,2010,29(13):1661-1683.
[69] CORKE P. Robotics,vision and control[J]. Springer Tracts in Advanced Robotics,2011,118.
[70] JAZAR,REZA N. Theory of applied robotics. Kinematics,dynamics,and control. 2nd ed[D]//Theory of Applied Robotics:Kinematics,Dynamics,and Control. Springer Publishing Company,Incorporated,2010.
[71] YUAN H,ZHOU L,XU W. A comprehensive static model of cable-driven multi-section continuum robots considering friction effect[J]. Mechanism and Machine Theory,2019,135:130-149.
[72] 胡海燕,王鹏飞,孙立宁,等. 线驱动连续型机器人的运动学分析与仿真[J]. 机械工程学报,2010, 46(19):1-8.HU Haiyan,WANG Pengfei,SUN Lining,et al. Kinematic analysis and simulation for cable-driven continuum robot[J]. Journal of Mechanical Engineering,2010,46(19):1-8.
[73] PEIDRÓ A,REINOSO S,GIL A,et al. An improved Monte Carlo method based on Gaussian growth to calculate the workspace of robots[J]. Engineering Applications of Artificial Intelligence,2017,64(sep.):197-207.
[74] 周律,周昱明,汪亮,等. 基于蒙特卡罗方法的双臂机器人工作空间分析[J]. 机械传动,2014(6):85-87.ZHOU Lü,ZHOU Yuming,WANG Liang,et al. Dual-arm robot workspace analysis based on the Monte Carlo method[J]. Journal of Mechanical Transmission,2014(6):85-87.
[75] MENG G Z,YUAN G M,LIU Z,et al. Forward and inverse kinematic of continuum robot for search and rescue[J]. Advanced Materials Research,2013,712-715(3):2290-2295.
[76] DU Z,YANG W,DONG W. Kinematics modeling of a notched continuum manipulator[J]. Robot,2015,7(4):041017.
[77] XU K,ZHAO J,QIU D,et al. A pilot study of a continuum shoulder exoskeleton for anatomy adaptive assistances[J]. Journal of Mechanisms & Robotics,2014,6(4):041011.
[78] OLIVER-BUTLER K,TILL J,RUCKER C. Continuum robot stiffness under external loads and prescribed tendon displacements[J]. IEEE Transactions on Robotics,2019(2):1-17.
[79] MENG Cai,XU Weidong,LI Haiyuan,et al. A novel soft manipulator based on beehive structure[C]//IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS),German,2342-7,2015.
[80] MENG Cai,XU Weidong,LI Haiyuan,et al. A new design of cellular soft continuum manipulator based on beehive-inspired modular structure[J]. International Journal of Advanced Robotic Systems,2017,14(3):172988141770738.
[81] SHEN W,YANG G,ZHENG T,et al. An accuracy enhancement method for a cable-driven continuumrobot with a flexible backbone[J]. IEEE Access,2020(99):1-1.
[82] MATTHEW S,MOSES,RYAN J,et al. Modeling cable and guide channel interaction in a high-strength cable-driven continuum manipulator[J]. IEEE/ASME Transactions on Mechatronics:A Joint Publication of the IEEE Industrial Electronics Society and the ASME Dynamic Systems and Control Division,2015.
[83] RUS D,TOLLEY M T. Design,fabrication and control of soft robots[J]. Nature,2015,521(7553):467-75.
[84] ORLANDO F,JOSEPH M. Development of closed loop coordinated control of a robot guided SMA actuated flexible active needle with multimodal sensory feedbacks[C]//IECON 2017-43rd Annual Conference of the IEEE Industrial Electronics Society. IEEE,2017.
[85] JOSEPH F O M,KUMAR M,FRANZ K,et al. Control of shape memory alloy actuated flexible needle using multimodal sensory feedbacks[J]. Journal of Automation and Control Engineering,2015,3(5):428-234.
[86] 毕津滔,张永德,孙波涛. 基于电磁跟踪与超声图像的介入机器人穿刺导航方法及实验研究[J]. 仪器仪表学报,2019,40(7):253-262.BI Jintao,ZHANG Yongde,SUN Botao. Experimental research on puncture navigation method of interventional robot based on electromagnetic tracking and ultrasonic image[J]. Chinese Journal of Scientific Instrument,2019,40(7):253-262.