刚度
模块化设计
灵活性(工程)
控制理论(社会学)
补偿(心理学)
操纵器(设备)
联轴节(管道)
计算机科学
工程类
控制工程
机械工程
结构工程
控制(管理)
数学
机械臂
人工智能
心理学
统计
精神分析
操作系统
作者
Xiaoyong Wei,Feng Ju,Dongming Bai,Hao Guo,Chuang Lu,Hongtao Wu,Bai Chen
出处
期刊:IEEE Transactions on Instrumentation and Measurement
[Institute of Electrical and Electronics Engineers]
日期:2024-01-01
卷期号:73: 1-13
标识
DOI:10.1109/tim.2023.3338659
摘要
Rigid instruments with limited flexibility utilized in the traditional endoscopic sinus surgery maybe damage the tissue when surgeon operates in the narrow space of nose specific area. Flexible continuum manipulator would solve this issue. However, current manipulators may not be able to address the intricate and varied surgical demands effectively, and they may not meet the surgical requirements adequately in terms of the flexibility, precision and stiffness. This paper introduced a novel modular continuum manipulator designed to offer exceptional adaptability, precision, and adjustable stiffness. The various sizes of the manipulators could be optimized according to different surgical scenario while taking its flexibility into account. Moreover, the model-based estimation and feedforward compensation control were applied to enhance its precision, taking into account the coupling effect of two sections and friction loss. Additionally, this study introduced a theoretical analysis on the feasibility of implementing variable stiffness for the manipulator, and the coupling was also lessened via increasing the stiffness of the first section. The experiments demonstrated that the maximum average deviation observed was 3.43 mm, which is equivalent to just 2.5% of the total length of the manipulator. Furthermore, the stiffness could be enhanced by up to 75%. Therefore, the proposed flexible manipulator has a potential for the nasal minimally invasive surgery.
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