Design and Compensation Control of Modular Variable Stiffness Continuum Manipulator for Nasal Surgery

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]
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.
最长约 10秒,即可获得该文献文件

科研通智能强力驱动
Strongly Powered by AbleSci AI
更新
PDF的下载单位、IP信息已删除 (2025-6-4)

科研通是完全免费的文献互助平台,具备全网最快的应助速度,最高的求助完成率。 对每一个文献求助,科研通都将尽心尽力,给求助人一个满意的交代。
实时播报
聂青枫完成签到,获得积分10
3秒前
LOST完成签到 ,获得积分10
4秒前
yinyin完成签到 ,获得积分10
4秒前
沉静香氛完成签到 ,获得积分10
10秒前
12秒前
北笙完成签到 ,获得积分10
14秒前
卢健辉发布了新的文献求助10
18秒前
mark33442完成签到,获得积分10
19秒前
明天过后完成签到,获得积分10
21秒前
zhangxin完成签到,获得积分10
22秒前
一行白鹭上青天完成签到 ,获得积分10
24秒前
卢健辉完成签到,获得积分10
24秒前
汉堡包应助迷路的煎蛋采纳,获得10
25秒前
lightman完成签到,获得积分10
29秒前
31秒前
32秒前
欧阳小枫完成签到 ,获得积分10
32秒前
重要铃铛完成签到 ,获得积分10
36秒前
36秒前
37秒前
Hello应助Ying采纳,获得20
37秒前
amy完成签到,获得积分10
40秒前
ivyjianjie完成签到 ,获得积分10
46秒前
DaDA完成签到 ,获得积分10
51秒前
晚晚完成签到,获得积分10
51秒前
大陆完成签到,获得积分0
54秒前
猪猪女孩完成签到,获得积分10
55秒前
欢喜板凳完成签到 ,获得积分10
55秒前
lu完成签到,获得积分10
58秒前
郭元强完成签到,获得积分10
1分钟前
小许完成签到 ,获得积分10
1分钟前
1分钟前
xiaofeiyan完成签到 ,获得积分10
1分钟前
llhh2024完成签到,获得积分10
1分钟前
心系天下完成签到 ,获得积分10
1分钟前
David完成签到 ,获得积分10
1分钟前
monoanan完成签到 ,获得积分10
1分钟前
无极2023完成签到 ,获得积分0
1分钟前
瘦瘦的铅笔完成签到 ,获得积分10
1分钟前
pengyh8完成签到 ,获得积分10
1分钟前
高分求助中
A new approach to the extrapolation of accelerated life test data 1000
Cognitive Neuroscience: The Biology of the Mind 1000
Technical Brochure TB 814: LPIT applications in HV gas insulated switchgear 1000
Immigrant Incorporation in East Asian Democracies 600
Nucleophilic substitution in azasydnone-modified dinitroanisoles 500
不知道标题是什么 500
A Preliminary Study on Correlation Between Independent Components of Facial Thermal Images and Subjective Assessment of Chronic Stress 500
热门求助领域 (近24小时)
化学 材料科学 医学 生物 工程类 有机化学 生物化学 物理 内科学 纳米技术 计算机科学 化学工程 复合材料 遗传学 基因 物理化学 催化作用 冶金 细胞生物学 免疫学
热门帖子
关注 科研通微信公众号,转发送积分 3968559
求助须知:如何正确求助?哪些是违规求助? 3513391
关于积分的说明 11167370
捐赠科研通 3248808
什么是DOI,文献DOI怎么找? 1794465
邀请新用户注册赠送积分活动 875116
科研通“疑难数据库(出版商)”最低求助积分说明 804664