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Modeling of a joint-type flexible endoscope based on elastic deformation and internal friction
Zhou YY(周圆圆)1,2,3,4; Jiang GH(江国豪)1,2,3,4; Zhang C(张诚)1,3,4; Wang ZD(王志东)1,3,5; Zhang, Zhongtao6; Liu H(刘浩)1,3,4
Department机器人学研究室
Source PublicationAdvanced Robotics
ISSN0169-1864
2019
Volume33Issue:19Pages:1-11
Indexed BySCI ; EI
EI Accession number20193507380465
WOS IDWOS:000484193700001
Contribution Rank1
Funding OrganizationNational Key R&D Program of China: [grant number 2017YFC0110902] ; Self-planned Project from State Key Laboratory of Robotics in China: [grant number 2019-Z05]
KeywordRobotic surgery joint-type endoscope bending model internal friction force cable-driven
Abstract

Flexible endoscopes are widely used in minimally invasive surgical robot systems. Various kinematic models have been developed for describing the deformation of such endoscopes. For joint-type flexible endoscopes, most existing models neglect the effect of internal friction and cannot precisely show the shape. In this paper, we propose a new nonlinear bending model. The rubber tube and metal net at each joint are approximated as a tube under elastic deformation and are assigned an equivalent bending stiffness. The internal friction force is also taken into account to build the moment balance equation at each joint. Groups of experiments were performed to validate the nonlinear model. The results closely confirm the model’s predictions. The model’s tip position error during the bending and unbending phases are 1.48 ± 0.99 mm and 1.68 ± 0.91 mm respectively; the bending angle errors are −5.50 ± 2.54° and 1.68 ± 3.66°, respectively The model can also take account of the hysteresis effect of the bending, which is quite common for cable-driven flexible robots. Moreover, the model has good computational efficiency, making it suitable for real-time control.

Language英语
WOS SubjectRobotics
WOS KeywordCONTINUUM ROBOTS ; SURGERY ; CATHETERS
WOS Research AreaRobotics
Funding ProjectNational Key R&D Program of China[2017YFC0110902] ; Self-planned Project fromState Key Laboratory of Robotics in China[2019-Z05]
Citation statistics
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/25513
Collection机器人学研究室
Corresponding AuthorLiu H(刘浩)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Shenyang, China
2.Shenyang Institute of Automation, University of Chinese Academy of Sciences, Beijing, China
3.Institute for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, China
4.Key Laboratory of Minimally Invasive Surgical Robot, Shenyang, China
5.Department of Advanced Robotics, Chiba Institute of Technology, Narashino, Chiba, Japan
6.Department of General Surgery, Beijing Friendship Hospital Capital Medical University, Beijing, China
Recommended Citation
GB/T 7714
Zhou YY,Jiang GH,Zhang C,et al. Modeling of a joint-type flexible endoscope based on elastic deformation and internal friction[J]. Advanced Robotics,2019,33(19):1-11.
APA Zhou YY,Jiang GH,Zhang C,Wang ZD,Zhang, Zhongtao,&Liu H.(2019).Modeling of a joint-type flexible endoscope based on elastic deformation and internal friction.Advanced Robotics,33(19),1-11.
MLA Zhou YY,et al."Modeling of a joint-type flexible endoscope based on elastic deformation and internal friction".Advanced Robotics 33.19(2019):1-11.
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