Development of a variable-stiffness and shape-detection manipulator based on low-melting-point-alloy for minimally invasive surgery*

摘要

There is an increasingly popularity for the continuum robot in minimally invasive surgery(MIS), because of the compliance and dexterity. In the first place, a variable stiffness manipulator can resolve the two contradictions of the demands for predominant flexibility and strong payload capacity. In the second place, to control the continuum robot more precisely and avoid the collision between robot and human body, real-time tracking of the shape of the continuum robot is of great significance. A new type of flexible manipulator with variable stiffness is proposed which can track the bending shape timely. The low-melting-point-alloy (LMPA) is used to realize the variable stiffness and shape detection for the flexible manipulator. The concept design for a single module is put forward. Then the stiffness control method and finite element simulation, the method of shape detection are presented. Moreover, the presented method of shape detection is evaluated by experiments.