Abstract
Robot assisted endoscopic system with navigation functionalities is emerging as a pivotal role for improving the clinician’s performance in minimally-invasive surgeries, particularly through natural orifices or single incision. This article investigates a new sleeve robot design that is able to achieve flexible bending manoeuvrability to the endoscope, which is to be used surgically in the tight and irregular spaces within the human body. It is based on the concept of the distal dexterity unit and we are using multiple spring support units instead of backbones. The characteristics of a spring are exploited in this design to provide more orientations and positioning of the end-effector with increased manoeuvrability and without involving manual reconfiguration of the shape of the instrument. Design analysis and bending motion model are investigated during the system development. The finished prototype of the robotic system is able to achieve five degree of freedoms through the actuation of the proposed method. The proposed system is validated by prototype development and experiments.
Similar content being viewed by others
References
Alikhani, A., Alasty, A., Vanini, S.A.S., Behzadipour,S.: Workspace analysis of a three dof cable-driven mechanism. J. Mech. Robot. ASME 1 (2009)
Arena P., Fortuna L., Frasca M., Bonomo C., Graziani, S.: Design and control of an IPMC wormlike robot. IEEE Trans. Syst. Man Cybern. Part B Cybern. 36 (2006)
Belendez, T., Neipp, C., Belendez, A.: Large and small deflections of a cantilever beam. Eur. J. Phys. 23(3), 371 (2002)
Bisshopp, K.E., Drucker, D.C.: Large deflection of cantilever beams. Q. Appl. Math. 2, 168–171 (1945)
Budynas, R.G., Nisbett, J.K.: Shigley’s mechanical engineering design. McGraw-Hill, New York (2008)
Costello, G.A.: Large deflections of helical spring due to bending. Master’s thesis (1977)
Costello, G.A., Phillips, J.W.: Large deflection of impacted helical springs. J. Acoust. Soc. Am. (1971)
Degani, A., Choset, H., Wolf, A., Zenati, M.A.: Highly articulated robotic probe for minimally invasive surgery, pp. 4167–4172 (2006)
Degani, A., Choset, H., Zubiate, B., Ota, T., Zenati, M.: Highly articulated robotic probe for minimally invasive surgery, pp. 3273–3276 (2008)
Gao, B.T., Xu, J., Zhao, J., Xi, N.: Combined inverse kinematic and static analysis and optimal design of a cable-driven mechanism with a spring spine. Adv. Robot. 26(8–9), 923–946 (2012)
Gao, B.T., Song, H., Zhao, J., Guo, S., Sun, L., Tang, Y.: Inverse kinematics and workspace analysis of a cable-driven parallel robot with a spring spine. Mech. Mach. Theory 76, 56–69 (2014)
Hannan, M.W., Walker, I.D.: Kinematics and the implementation of an elephant’s trunk manipulator and other continuum style robots. J. Robot. Syst. 20, 45–63 (2003). doi:10.1002/rob.10070
Hirose, S.: Biologically inspired robots, snake-like locomotors and manipulators. Oxford University Press, Oxford (1993)
Kim, K.J.: Ionic polymer-metal composite as a new actuator and transducer material. In: Electroactive polymers for robotic applications, Chapter 6, pp. 153–164. Springer (2007)
Li, Z., Wu, L., Yu, H., Ren, H.: Kinematic comparison of surgical tendon-driven manipulators and concentric tube manipulators. In: Mechanism and machine theory, vol. 107, pp. 148–165, Elsevier (2017)
Perreault, S., Gosselin, C.: Cable-driven parallel mechanism: applications to a locomotion interface. J. Mech. Des. ASME 130 (2008)
Phee, S.J., Low, S.C., Huynh, V., Kencana, A.P., Sun, Z., Yang, K.: Master and slave transluminal endoscopic robot (master) for natural orifice transluminal endoscopic surgery (notes), pp. 1192–1195 (2009)
Rosheim, M.E.: Robot evolution: the development of anthrobotics. Wiley, New York (1994)
Shoup, T.: An analysical investigation of the large deflections of flexible beam spring. Master’s thesis, The Ohio State University (1969)
Simaan, N.: Snake-like units using flexible backbones and actuation redundancy for enhanced miniaturization. In: Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference. IEEE, pp. 3012–3017 (2005)
Simaan, N.: Actuation compensation for flexible surgical snake-like robots with redundant remote actuation. In: 2006 IEEE international conference on robotics and automation (2006)
Simaan, N.: Design and coordination kinematics of an insertable robotic effectors platform for single-port access surgery. IEEE/ASME Trans. Mechatron. 18 (2013)
Simard, J.M., Gullapalli, R., Ho, M., McMillan, A.B., Desai, J.P.: Toward a meso-scale SMA-actuated MRI-compatible neurosurgical robot. IEEE Trans. Robot. 28 (2012)
Xi, N., Xu, J.,Gao, B., Zhao, J.: Combined kinematic and static analysis of a cable-driven manipulator with a spring spine. In: 2011 IEEE international conference on robotics and automation (2011)
Xu, K., Wei, W., Kapoor, A., Kazanzides, P., Taylor, R., Flint, T.P., Simaan, N.: Design and integration of a telerobotic system for minimally invasive surgery of the throat. Int. J. Robot. Res. (2009)
Yuk, H., Kim, D., Lee, H., Jo, S., Shin, J.H.: Shape memory alloy-based small crawling robots inspired by C. elegans. Bioinspir. Biomim. IOPscience 6 (2011)
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Tan, Z., Ren, H. Design analysis and bending modeling of a flexible robot for endoscope steering. Int J Intell Robot Appl 1, 224–237 (2017). https://doi.org/10.1007/s41315-017-0014-x
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s41315-017-0014-x