| Title | A Stiffness-Adjustable Hyper-Redundant Manipulator using a Variable Neutral-line Mechanism for Minimally Invasive Surgery |
|---|
| Publication Type | Journal Article |
|---|
| Year of Publication | 2014 |
|---|
| Authors | Kim, Y. J., S. Cheng, S. Kim, and K. Iagnemma |
|---|
| Journal | IEEE Transactions on Robotics |
|---|
| Volume | 30 |
|---|
| Pagination | 382 - 395 |
|---|
| Accession Number | 14210109 |
|---|
| ISSN | 1552-3098 |
|---|
| Issue | 2 |
|---|
| Start Page | 382 |
|---|
| 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. |
|---|
| DOI | 10.1109/TRO.2013.2287975 |
|---|
| URL | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6661461 |
|---|
