Experimental Evaluation of a Small-Sized Continuum Robot for Grasping Tasks

IF 0.8 4区工程技术 Q4 ENGINEERING, MECHANICAL

Transactions of The Canadian Society for Mechanical Engineering Pub Date : 2024-07-10 DOI:10.1139/tcsme-2023-0155

A. Mehrkish, Farrokh Janabi-Sharifi

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引用次数: 0

Abstract

This study explores catheters, small-sized continuum robots (CRs), in medical procedures, utilizing a recently developed comprehensive classification system known as the "CR-based Taxonomy". This work specializes the proposed taxonomy for small-sized CRs with medical applications through semi-structured interviews with researchers in this field. Subsequently, it provides a comprehensive analysis of grasp taxonomy, encompassing aspects such as grasp stability, grasp adaptability, and the inherent characteristics of manipulated objects and tasks. This analysis is conducted within the context of the "CR-based Taxonomy" to assess its feasibility in a practical scenario involving a small-sized CR. Based on this analysis, fixed-tip grasp (FTG), hook grasp (HoG), and power form closure grasp (PFG) with a grasp stability of 18 have the highest stability, while, platform/pull/push grasp (PG) and expandable grasp (EG) have the lowest stability. Moreover, PFG and precision multi-contact grasp (PMG) have superior adaptability compared to other grasp families. Also, the planar payload of selected grasp families is much higher than the spatial payload of those families; however, the grasp size remains equal for both dimensions. This endeavor lays the groundwork for more in-depth investigations into catheter applications and offers valuable guidance to medical device developers in the creation of enhanced medical instruments.

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小型连续机器人抓取任务的实验评估

本研究利用最近开发的 "基于 CR 的分类法 "综合分类系统，探讨了医疗程序中的导管、小型连续机器人 (CR)。通过与该领域的研究人员进行半结构式访谈，本研究专门针对医疗应用中的小型连续性机器人提出了分类法。随后，它对抓取分类法进行了全面分析，包括抓取稳定性、抓取适应性以及被操控物体和任务的固有特性等方面。该分析是在 "基于 CR 的分类法 "的背景下进行的，以评估其在涉及小型 CR 的实际场景中的可行性。根据这一分析，抓取稳定性为 18 的固定尖端抓取（FTG）、钩状抓取（HoG）和动力形式闭合抓取（PFG）稳定性最高，而平台/拉/推抓取（PG）和可扩展抓取（EG）稳定性最低。此外，与其他抓取系列相比，PFG 和精密多接触抓取（PMG）具有更优越的适应性。此外，所选抓手系列的平面有效载荷远高于空间有效载荷，但抓手尺寸在两个维度上保持相同。这项研究为更深入地研究导管的应用奠定了基础，并为医疗器械开发人员提供了宝贵的指导，帮助他们创造出更先进的医疗器械。

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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来源期刊

Transactions of The Canadian Society for Mechanical Engineering 工程技术-工程：机械

CiteScore

2.30

自引率

0.00%

发文量

审稿时长

5 months

期刊介绍： Published since 1972, Transactions of the Canadian Society for Mechanical Engineering is a quarterly journal that publishes comprehensive research articles and notes in the broad field of mechanical engineering. New advances in energy systems, biomechanics, engineering analysis and design, environmental engineering, materials technology, advanced manufacturing, mechatronics, MEMS, nanotechnology, thermo-fluids engineering, and transportation systems are featured.