Design and Modeling of a Bio-Inspired Compound Continuum Robot for Minimally Invasive Surgery
نویسندگان
چکیده
The continuum robot is a new type of bionic which widely used in the medical field. However, current structure limits its application field minimally invasive surgery. In this paper, bio-inspired compound (CCR) combining concentric tube (CTR) and notched proposed to design high-dexterity surgical instrument. Then, kinematic model, considering stability CTR part, was established. unstable operation CCR avoided. simulation workspace shows that introduction expands CTR. dexterity indexes robots are proposed. 1.472 times At last, length distribution optimized based on index by using fruit fly optimization algorithm. simulations show more dexterous than before. increased 1.069 times. This paper critical for development instruments such as those brain, blood vessels, heart lungs.
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ژورنال
عنوان ژورنال: Machines
سال: 2022
ISSN: ['2075-1702']
DOI: https://doi.org/10.3390/machines10060468