Development and kinematic analysis of a silicone-rubber bending tip for colonoscopy

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems Pub Date : 2006-10-09 DOI:10.1109/IROS.2006.282129

Gang Chen, M. Pham, T. Redarce

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引用次数: 52

Abstract

In this paper, the authors describe the design of a bendable robotic tip for semi-autonomous colonoscopy called COLOBOT. It is a flexible robotic manipulator made of silicone rubber in view of the compact size and biocompatibility. The outer diameter of the tip is 17 mm which is lesser than the average diameter of colon (20 mm). Three servo-valves are used to control the pressure of each chamber of this tip to obtain its flexible movement. The experimental results of this new prototype show that it can bend until 120 degrees under the pressure of 2 bar. Based on the geometric deformation and a nonlinear analysis of the silicone behavior, a direct kinematic model analogous to the forward kinematics of a conventional industrial robot kinematics chain has been put forward. The proposed kinematic model of this bendable tip is an extended model of classical models found for such a mechanism. At first a polynomial approximation is used to characterize the non linear behavior of each chamber of the actuator. Next the coupling phenomena between each chamber are highlighted through experimental tests. A new correction parameter is then proposed to take into account these interactions and a non linear optimization is made to compute this coefficient. Finally, the proposed kinematic model is experimentally validated

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结肠镜用硅橡胶弯曲尖端的研制及运动学分析

在本文中，作者描述了一种可弯曲的机器人尖端的设计，用于半自动结肠镜检查，称为COLOBOT。考虑到硅橡胶的紧凑尺寸和生物相容性，它是一种柔性机械臂。尖端外径为17mm，小于结肠平均直径(20mm)。采用三个伺服阀来控制该尖端各腔室的压力，以实现其灵活运动。实验结果表明，在2bar的压力下，该样品可弯曲至120度。基于硅酮的几何变形和非线性行为分析，提出了类似于传统工业机器人运动链正解的直接运动学模型。所提出的可弯曲尖端的运动学模型是该机构经典模型的扩展模型。首先采用多项式近似来表征执行器各腔室的非线性行为。然后通过实验测试，重点介绍了各腔室之间的耦合现象。然后提出了一个新的校正参数来考虑这些相互作用，并进行了非线性优化来计算该系数。最后，对所提出的运动学模型进行了实验验证

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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