Variable Stiffness Mechanism in Robotized Interventional Radiology

  • L. EstevenyEmail author
  • L. Barbé
  • B. Bayle
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 39)


During the last two decades, a large number of robotic assistants have been developed to help surgeons place surgical tools. Until now, research in this field has mostly focused on rigid robotic structures, which make safety issues difficult to deal with. In this paper, we consider a new collaborative manipulation approach based on a variable stiffness mechanism. By controlling the stiffness perceived by the user when he/she manipulates the device, it then becomes possible to guide his/her gesture in a safe way. This strategy is first presented, before detailing the design, optimization and experimental validation of the proposed mechanism based on leaf springs.


Variable stiffness mechanism Compliant mechanism Leaf spring Interventional radiology Collaborative manipulation 



The authors acknowledge the support of the Region Alsace, the Institute of image-guided surgery (IHU Strasbourg) and the Foundation ARC. This work has been sponsored by the French government research program Investissements dAvenir through the Robotex Equipment of Excellence and Labex CAMI (ANR- 10-EQPX-44 and ANR-11-LABX-0004).


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.PMAKatholieke Universiteit LeuvenLeuvenBelgium
  2. 2.EAVRICube-Strasbourg UniversityStrasbourgFrance
  3. 3.Institute of Image-Guided SurgeryStrasbourgFrance

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