A Stiffness-Adjustable Hyper-Redundant Manipulator using a Variable Neutral-line Mechanism for Minimally Invasive Surgery

TitleA Stiffness-Adjustable Hyper-Redundant Manipulator using a Variable Neutral-line Mechanism for Minimally Invasive Surgery
Publication TypeJournal Article
Year of Publication2014
AuthorsKim, Y. J., S. Cheng, S. Kim, and K. Iagnemma
JournalIEEE Transactions on Robotics
Volume30
Issue2
Start Page382
Pagination382 - 395
ISSN1552-3098
Accession Number14210109
Abstract

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.

URLhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6661461
DOI10.1109/TRO.2013.2287975