TY - JOUR
T1 - Mechanical model of dexterous continuum manipulators with compliant joints and tendon/external force interactions
AU - Gao, Anzhu
AU - Murphy, Ryan J.
AU - Liu, Hao
AU - Iordachita, Iulian I.
AU - Armand, Mehran
N1 - Funding Information:
This work was supported by the National Institutes of Health/National Institute of Biomedical Imaging and Bioengineering under Grant R01EB016703. The work of A. Gao was supported in part by the National Natural Science Foundation of China under Grant 61473281 and in part by China Scholarship Council under Grant 201408210100.
Publisher Copyright:
© 1996-2012 IEEE.
PY - 2017/2
Y1 - 2017/2
N2 - Dexterous continuum manipulators (DCMs) have been widely adopted for minimally- and less-invasive surgery. During the operation, these DCMs interact with surrounding anatomy actively or passively. The interaction force will inevitably affect the tip position and shape of DCMs, leading to potentially inaccurate control near critical anatomy. In this paper, we demonstrated a two-dimensional mechanical model for a tendon actuated, notched DCM with compliant joints. The model predicted deformation of the DCM accurately in the presence of tendon force, friction force, and external force. A partition approach was proposed to describe the DCM as a series of interconnected rigid and flexible links. Beam mechanics, taking into consideration tendon interaction and external force on the tip and the body, was applied to obtain the deformation of each flexible link of the DCM. The model results were compared with experiments for free bending as well as bending in the presence of external forces acting at either the tip or body of the DCM. The overall mean error of tip position between model predictions and all of the experimental results was 0.62 ± 0.41 mm. The results suggest that the proposed model can effectively predict the shape of the DCM.
AB - Dexterous continuum manipulators (DCMs) have been widely adopted for minimally- and less-invasive surgery. During the operation, these DCMs interact with surrounding anatomy actively or passively. The interaction force will inevitably affect the tip position and shape of DCMs, leading to potentially inaccurate control near critical anatomy. In this paper, we demonstrated a two-dimensional mechanical model for a tendon actuated, notched DCM with compliant joints. The model predicted deformation of the DCM accurately in the presence of tendon force, friction force, and external force. A partition approach was proposed to describe the DCM as a series of interconnected rigid and flexible links. Beam mechanics, taking into consideration tendon interaction and external force on the tip and the body, was applied to obtain the deformation of each flexible link of the DCM. The model results were compared with experiments for free bending as well as bending in the presence of external forces acting at either the tip or body of the DCM. The overall mean error of tip position between model predictions and all of the experimental results was 0.62 ± 0.41 mm. The results suggest that the proposed model can effectively predict the shape of the DCM.
KW - Compliant joints
KW - Cosserat rod theory
KW - dexterous continuum manipulators (DCMs)
KW - partition approach
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U2 - 10.1109/TMECH.2016.2612833
DO - 10.1109/TMECH.2016.2612833
M3 - Article
C2 - 28989273
AN - SCOPUS:85013483681
SN - 1083-4435
VL - 22
SP - 465
EP - 475
JO - IEEE/ASME Transactions on Mechatronics
JF - IEEE/ASME Transactions on Mechatronics
IS - 1
M1 - 7574345
ER -