Development of a Novel Ball-and-Socket Flexible Manipulator for Minimally Invasive Flexible Surgery
نویسندگان
چکیده
This work proposes a novel flexible manipulator consisting of series 2-DOF vertebrae based on ball-and-socket joint that is connected by ball-shaped surface and cup-shaped socket constrained pins for circumferential rotation. can demonstrate outstanding torsional stiffness since the rotation between four ball pins. The point contact guideways effectively reduces friction vertebrae, thus allowing designed to yield smooth bending shape with constant curvature. features high axial stiffness, excellent performance, sufficient loading capacity, convenient integration surgical instruments. Moreover, enables this efficiently transfer torque be applied in in-situ motion, addressing typical issue limited dexterity motion. kinematic modeling proposed under motion has been derived, its workspace analyzed. A robotic system assembled, experiments have verified design validity. results show maximum position errors are 2.39% (horizontal direction) 1.98% (vertical direction), 21.13N $\cdot $ mm/deg, which 46 times higher than spherical (SFM). Such merits support excellently performing average error 3.58%. Furthermore, phantom test larynx performed verify potential clinical feasibility.
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ژورنال
عنوان ژورنال: IEEE transactions on medical robotics and bionics
سال: 2023
ISSN: ['2576-3202']
DOI: https://doi.org/10.1109/tmrb.2023.3265714