A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery
In robotic single-port surgery, it is desirable for a manipulator to exhibit the property of variable stiffness. Small-port incisions may require both high flexibility of the manipulator for safety purposes, as well as high structural stiffness for operational precision and high payload capability....
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2015
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| Online Access: | http://hdl.handle.net/1721.1/98275 https://orcid.org/0000-0002-0218-6801 |
| _version_ | 1826198651480834048 |
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| author | Kim, Yong-Jae Cheng, Shanbao Kim, Sangbae Iagnemma, Karl |
| author2 | Massachusetts Institute of Technology. Department of Mechanical Engineering |
| author_facet | Massachusetts Institute of Technology. Department of Mechanical Engineering Kim, Yong-Jae Cheng, Shanbao Kim, Sangbae Iagnemma, Karl |
| author_sort | Kim, Yong-Jae |
| collection | MIT |
| description | In robotic single-port surgery, it is desirable for a manipulator to exhibit the property of variable stiffness. Small-port incisions may require both high flexibility of the manipulator for safety purposes, as well as high structural stiffness for operational precision and high payload capability. This paper presents a new hyperredundant tubular manipulator with a variable neutral-line mechanisms and adjustable stiffness. A unique asymmetric arrangement of the tendons and the links realizes both articulation of the manipulator and continuous stiffness modulation. This asymmetric motion of the manipulator is compensated by a novel actuation mechanism without affecting its structural stiffness. The paper describes the basic mechanics of the variable neutral-line manipulator, and its stiffness characteristics. Simulation and experimental results verify the performance of the proposed mechanism. |
| first_indexed | 2024-09-23T11:08:06Z |
| format | Article |
| id | mit-1721.1/98275 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T11:08:06Z |
| publishDate | 2015 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/982752022-10-01T01:27:14Z A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery Kim, Yong-Jae Cheng, Shanbao Kim, Sangbae Iagnemma, Karl Massachusetts Institute of Technology. Department of Mechanical Engineering Kim, Sangbae Iagnemma, Karl In robotic single-port surgery, it is desirable for a manipulator to exhibit the property of variable stiffness. Small-port incisions may require both high flexibility of the manipulator for safety purposes, as well as high structural stiffness for operational precision and high payload capability. This paper presents a new hyperredundant tubular manipulator with a variable neutral-line mechanisms and adjustable stiffness. A unique asymmetric arrangement of the tendons and the links realizes both articulation of the manipulator and continuous stiffness modulation. This asymmetric motion of the manipulator is compensated by a novel actuation mechanism without affecting its structural stiffness. The paper describes the basic mechanics of the variable neutral-line manipulator, and its stiffness characteristics. Simulation and experimental results verify the performance of the proposed mechanism. Samsung Advanced Institute of Technology 2015-09-01T13:13:12Z 2015-09-01T13:13:12Z 2014-04 2013-09 Article http://purl.org/eprint/type/JournalArticle 1552-3098 1941-0468 http://hdl.handle.net/1721.1/98275 Kim, Yong-Jae, Shanbao Cheng, Sangbae Kim, and Karl Iagnemma. “A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery.” IEEE Transactions on Robotics 30, no. 2 (April 2014): 382–395. https://orcid.org/0000-0002-0218-6801 en_US http://dx.doi.org/10.1109/tro.2013.2287975 IEEE Transactions on Robotics Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) Prof. Kim via Angie Locknar |
| spellingShingle | Kim, Yong-Jae Cheng, Shanbao Kim, Sangbae Iagnemma, Karl A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery |
| title | A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery |
| title_full | A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery |
| title_fullStr | A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery |
| title_full_unstemmed | A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery |
| title_short | A Stiffness-Adjustable Hyperredundant Manipulator Using a Variable Neutral-Line Mechanism for Minimally Invasive Surgery |
| title_sort | stiffness adjustable hyperredundant manipulator using a variable neutral line mechanism for minimally invasive surgery |
| url | http://hdl.handle.net/1721.1/98275 https://orcid.org/0000-0002-0218-6801 |
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