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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Modeling Cable and Guide Channel Interaction in a High-Strength Cable-Driven Continuum Manipulator
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Modeling Cable and Guide Channel Interaction in a High-Strength Cable-Driven Continuum Manipulator

机译：在高强度电缆驱动连续操纵器中建模电缆和导向通道的相互作用

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摘要

This paper presents several mechanical models of a high-strength cable-driven dexterous manipulator designed for surgical procedures. A stiffness model is presented that distinguishes between contributions from the cables and the backbone. A physics-based model incorporating cable friction is developed and its predictions are compared with experimental data. The data show that under high tension and high curvature, the shape of the manipulator deviates significantly from a circular arc. However, simple parametric models can fit the shape with good accuracy. The motivating application for this study is to develop a model so that shape can be predicted using easily measured quantities such as tension, so that real-time navigation may be performed, especially in minimally-invasive surgical procedures, while reducing the need for hazardous imaging methods such as fluoroscopy.
机译：本文介绍了为手术程序设计的高强度电缆驱动灵巧机械手的几种机械模型。提出了一种刚度模型，用于区分电缆和主干的贡献。建立了包含电缆摩擦的基于物理的模型，并将其预测与实验数据进行了比较。数据显示，在高张力和高曲率下，机械手的形状明显偏离圆弧。但是，简单的参数模型可以很好地拟合形状。这项研究的动机应用是开发一个模型，以便可以使用容易测量的量（例如张力）来预测形状，从而可以进行实时导航，尤其是在微创手术过程中，同时减少了对危险成像的需求荧光检查等方法。

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