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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)

Abstract

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.

Keywords

Transmission efficiency Variable stiffness Redundant mechanism 

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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

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