Minimally Invasive Instrument Joint Design Based on Variable Stiffness of Transmission Efficiency

  • Longkai Chen
  • Fan ZhangEmail author
  • Guohua Cui
  • Jing Sun
  • Minhua Zheng
  • Ruijun Pan
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11745)


In order to improve the posture adjustment ability of the minimally invasive surgical instrument joints, to better adapt to the needs of the surgical environment, the variable stiffness is achieved by changing the transmission efficiency, and the work of the actuated joint in each limb of the parallel mechanism is analyzed, Analysis of work done by main power to each motion pair in parallel Mechanism. Based on the solution of the matrix, the influence of the transmission efficiency on the Jacobian matrix is investigated, and the stiffness matrix of the Jacobian matrix-based mechanism is established. The research results shows that the stiffness can be adjusted by changing the transmission efficiency. Stiffness model analysis of the designed minimally invasive instrument joints was carried out. Through the stiffness calculation of the model, ANSYS static stiffness analysis and model experiment verification, it was finally proved that the variable stiffness based on transmission efficiency is highly practicable.


Transmission efficiency Variable stiffness Redundant mechanism 


  1. 1.
    Li, X: Research and optimal design of the variable stiffness manipulator in single-port surgical instrument. Tianjin University (2017)Google Scholar
  2. 2.
    Bai, Z., Chen, W.: Calculation model of ball joint stiffness and improvement of stiffness of parallel machine tools by redundant branches. Int. J. Mech. Eng. Educ. 42(10), 142–145 (2006)Google Scholar
  3. 3.
    Qu, H., Liang, Y., Fang, Y., Zhou, Y.: Statics and stiffness analysis of 4-RRS redundant spherical parallel mechanism. J. Mech. Eng. 51(11), 8–15 (2015)CrossRefGoogle Scholar
  4. 4.
    Gosselin, C.: Stiffness mapping for parallel manipulators. IEEE Trans. Robot. Autom. 6(3), 377–382 (1990)CrossRefGoogle Scholar
  5. 5.
    Tsai, M.J., Lee, H.W.: Generalized evaluation for the transmission performance of mechanisms. Mech. Mach. Theory 29(4), 607–618 (1994)CrossRefGoogle Scholar
  6. 6.
    Tsai, L.W., Joshi, S.: Jacobian analysis of limited-DOF parallel manipulators. Trans. ASME J. Mech. Des. 124(2), 254–258 (2002)CrossRefGoogle Scholar
  7. 7.
    Yu, J., Liu, X., Ding, X.: Foundation of Mathematics of Robot Mechanism, 2nd edn. China Machine Press, Beijing (2008)Google Scholar
  8. 8.
    Liu, X., Xie, F., Wang, J.: The Basis of Mechanism of Parallel Robots. Higher Education Press, Beijing (2016)Google Scholar
  9. 9.
    Marquet, F., Krut, S., Company, O., Pierrot, F.: A new redundant parallel mechanism-modeling, control and first results. In: IEEE/RSJ International Conference on Intelligent Robots & Systems. IEEE (2001)Google Scholar
  10. 10.
    Tsai, L., Joshi, S.: Comparison study of architectures of four 3 degree-of-freedom translational parallel manipulators. In: IEEE International Conference on Robotics & Automation. IEEE (2001)Google Scholar
  11. 11.
    Cao, W., Yang, D., Ding, H.: A method for stiffness analysis of over constrained parallel robotic mechanisms with Scara motion. Robot. Comput. Integr. Manuf. 49, 426–435 (2018)CrossRefGoogle Scholar
  12. 12.
    Jun, Z., Yanqin, Z., Jiansheng, D.: Compliance modeling and analysis of a 3-RPS parallel kinematic machine module. Chin. J. Mech. Eng. 27(4), 703–713 (2014)CrossRefGoogle Scholar
  13. 13.
    Xu, Y., Liu, W., Yao, J., Zhao, Y.: A method for force analysis of the over constrained lower mobility parallel mechanism. Mech. Mach. Theory 88, 31–48 (2015)CrossRefGoogle Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Longkai Chen
    • 1
  • Fan Zhang
    • 2
    Email author
  • Guohua Cui
    • 2
  • Jing Sun
    • 3
  • Minhua Zheng
    • 3
  • Ruijun Pan
    • 4
  1. 1.College of Mechanical and Automotive EngineeringShanghai University of Engineering ScienceShanghaiPeople’s Republic of China
  2. 2.Intelligent Robotics Research Center of Shanghai University of Engineering Science, Shanghai University of Engineering ScienceShanghaiPeople’s Republic of China
  3. 3.Department of General Surgery, Shanghai Minimally Invasive Surgery CenterRuijin Hospital, Shanghai Jiao Tong University School of MedicineShanghaiPeople’s Republic of China
  4. 4.Department of Digestive Surgery, Shanghai Minimally Invasive Surgery CenterRuijin Hospital, Shanghai Jiao Tong University School of MedicineShanghaiPeople’s Republic of China

Personalised recommendations