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Coupling Analysis of Compound Continuum Robots for Surgery: Another Line of Thought
Hangxing Wei1,2, Gang Zhang1,2, Shengsong Wang3
1School of Mechanical Engineering, Shandong University, Jinan 250061, China.
Sensors (Basel, Switzerland)
|July 29, 2023
Summary
This study uses the inherent coupling in compound continuum robots to improve surgical precision. A new inverse kinematic algorithm significantly speeds up calculations and achieves high accuracy for complex robotic movements.
Area of Science:
- Robotics
- Mechanical Engineering
- Surgical Technology
Background:
- Compound continuum robots combine concentric tube and cable-driven components for complex motions.
- Component interaction leads to coupling, reducing robot accuracy.
- Mitigating coupling-induced errors is crucial for enhancing robot performance.
Purpose of the Study:
- To leverage component coupling in compound continuum robots for precise surgical procedures.
- To develop a kinematic model and an inverse kinematic algorithm for this coupled system.
- To simplify complex nonlinear equations for faster inverse kinematic solutions.
Main Methods:
- Established a kinematic model for the compound continuum robot.
- Developed an inverse kinematic (IK) algorithm simplifying a nonlinear system into a single equation.
- Conducted simulations and experiments to validate the algorithm's efficiency and the system's accuracy.
Main Results:
- The proposed IK algorithm offers a significant speedup of 2.8 × 10^3 compared to the Levenberg-Marquardt method.
- Experimental results show high accuracy, with repetitive positioning accuracy of 0.9 mm.
- Tracking accuracy was measured at 1.5 mm, demonstrating the system's effectiveness.
Conclusions:
- The developed approach effectively utilizes component coupling for high-precision surgical operations.
- The simplified IK algorithm enhances computational speed without compromising accuracy.
- This research provides a significant contribution to managing coupling in compound continuum robots.
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