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

Wire-driven flexible manipulator with constrained spherical joints for minimally invasive surgery
Ji, DaekeunKang, Tae HunShim, SeongboLee, SeongpungHong, Jaesung
DGIST Authors
Kang, Tae HunHong, Jaesung
Issue Date
International Journal of Computer Assisted Radiology and Surgery, 14(8), 1365-1377
Article Type
Author Keywords
Flexible manipulatorMinimally invasive surgeryBall-constrained spherical joint
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. © 2019, CARS.
Springer Verlag
Related Researcher
  • Author Hong, Jaesung Surgical Robotics Lab
  • Research Interests Surgical Navigation; Surgical Robot; Medical Imaging; 영상유도수술로봇; 수술네비게이션
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Division of Intelligent Robotics1. Journal Articles
Department of Robotics EngineeringSurgical Robotics Lab1. Journal Articles

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