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International Journal of Computer Assisted Radiology and Surgery
Published in: International Journal of Computer Assisted Radiology and Surgery 8/2019

17-04-2019 | Original Article

Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery

Authors: Daekeun Ji, Tae Hun Kang, Seongbo Shim, Seongpung Lee, Jaesung Hong

Published in: International Journal of Computer Assisted Radiology and Surgery | Issue 8/2019

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Abstract

Purpose

One of the main factors that affect the rigidity of flexible robots is the twist deformation because of the external force exerted on the end effector. Another important factor that affects accuracy is the fact that such robots do not have a constant curvature. The conventional kinematic model assumes that the curvature is constant; however, in reality, it is not. To improve the rigidity and accuracy of flexible robots used in minimally invasive surgery via preventing the twist deformation while ensuring a constant curvature, we propose a novel flexible manipulator with ball-constrained spherical (BCS) joints and a spring.

Methods

The BCS joints are used to prevent the twist deformation in the flexible robot. The joints have two degrees of freedom (DOFs), which limit the rotation about the axial direction. The rotation is limited because the ball that is inserted into a BCS joint can move only along the ball guide. To obtain a constant curvature, springs are installed among the BCS joints. The springs receive the uniform compression force generated among the joints, thus achieving a constant curvature. The proposed BCS joint is designed based on the diameter of the forceps, desired workspace, and desired bending angle.

Results

To evaluate the proposed mechanism, three experiments were performed using a 20-mm-diameter prototype consisting of 13 BCS joints with a two-DOF motion. The experimental results showed that the prototype can realize a constant curvature with a mean error of 0.21°, which can support up to 5 N with no apparent twist deformation.

Conclusions

We developed a flexible manipulator with BCS joints for minimally invasive surgery. The proposed mechanism is anticipated to help prevent the twist deformation of the robot and realize a constant curvature. Accordingly, it is expected that rigidity is improved to ensure accuracy.
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Metadata
Title
Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery
Authors
Daekeun Ji
Tae Hun Kang
Seongbo Shim
Seongpung Lee
Jaesung Hong
Publication date
17-04-2019
Publisher
Springer International Publishing
Published in
International Journal of Computer Assisted Radiology and Surgery / Issue 8/2019
Print ISSN: 1861-6410
Electronic ISSN: 1861-6429
DOI
https://doi.org/10.1007/s11548-019-01976-4

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