A Soft Inflatable Cable-Driven Parallel Robot with A Variable Stiffness End-Effector for Advanced Interventional Endoscopy.

IF 4.4 2区医学 Q2 ENGINEERING, BIOMEDICAL

IEEE Transactions on Biomedical Engineering Pub Date : 2025-04-01 DOI:10.1109/TBME.2025.3552551

Jianlin Yang, Zhangxi Zhou, Mark Runciman, James Avery, Zhijun Sun, George Mylonas

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引用次数: 0

Abstract

Objective: This paper presents a cable-driven parallel robot (CDPR) with a variable stiffness end-effector for Advanced Interventional Endoscopy.

Methods: The CDPR consists of a soft inflatable scaffold that is made from plastic laminate sheets, capable of deploying into a hollow triangular prism. The end-effector comprises multiple units linked by two cables, which also actuate the rolling joint on the end-effector tip. Variable stiffness of the end-effector is achieved by adjusting the tensions in the two cables.

Results: Through master-slave control tests, the mean manual tracking error of the robot is approximately 0.5 mm. Simulated endoscopic surgical tasks, including peg transfer, wire threading, and needle threading, demonstrate the robot's performance. Additionally, the two cables double up as force-transmission elements to estimate the contact force acting on the end-effector tip. A force estimation strategy is proposed, and preprogrammed palpation tests reveal a mean force estimation error of 0.026 N when the cable pretension is 1 N and the Bowden cable's bending angle is 90°. A study involving ten users indicates a 100% accuracy in ranking the stiffness of four blocks with visual feedback.

Conclusion: We demonstrated a variable stiffness end-effector with rolling degree of freedom and force sensing function based on a CDPR platform.

Significance: The method for achieving variable stiffness and force sensing is cost-effective and holds significant potential for application in gastrointestinal endoscopy.

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一种用于高级介入内窥镜的软气胀式变刚度末端执行器并联机器人。

目的：介绍一种具有可变刚度末端执行器的缆索驱动并联机器人（CDPR），用于高级介入内镜检查。方法：CDPR由柔软的充气支架组成，该支架由塑料层压板制成，能够展开成中空的三角形棱镜。末端执行器包括由两根电缆连接的多个单元，这也驱动末端执行器尖端的滚动关节。末端执行器的可变刚度是通过调整两根电缆的张力来实现的。结果：通过主从控制测试，机器人的平均手动跟踪误差约为0.5 mm。模拟内镜手术任务，包括钉转移、穿线和穿针，展示了机器人的性能。此外，两根电缆作为力传递元件，以估计作用在末端执行器尖端的接触力。提出了一种力估计策略，预编程触诊试验表明，当电缆预紧力为1 N，鲍登电缆弯曲角为90°时，力估计平均误差为0.026 N。一项涉及10名用户的研究表明，在视觉反馈的情况下，对四个块的刚度进行排序的准确率为100%。结论：基于CDPR平台设计了一种具有滚动自由度和力传感功能的变刚度末端执行器。意义：实现可变刚度和力传感的方法具有成本效益，在胃肠道内窥镜检查中具有重要的应用潜力。

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

IEEE Transactions on Biomedical Engineering 工程技术-工程：生物医学

CiteScore

9.40

自引率

4.30%

发文量

880

审稿时长

2.5 months

期刊介绍： IEEE Transactions on Biomedical Engineering contains basic and applied papers dealing with biomedical engineering. Papers range from engineering development in methods and techniques with biomedical applications to experimental and clinical investigations with engineering contributions.