20_设计和控制同轴机器人.pdfVIP

IEEE TRANSACTIONS ON ROBOTICS, VOL. 26, NO. 2, APRIL 2010 209 Design and Control of Concentric-Tube Robots Pierre E. Dupont, Senior Member, IEEE, Jesse Lock, Brandon Itkowitz, and Evan Butler, Student Member, IEEE Abstract—A novel approach toward construction of robots is cludes straight ?exible needles that are used for percutaneous based on a concentric combination of precurved elastic tubes. By procedures in solid tissue. The needle is steered along a curved rotation and extension of the tubes with respect to each other, their insertion path by the application of lateral forces at the needle curvatures interact elastically to position and orient the robot’s tip, as well as to control the robot’s shape along its length. In this ap- base or tip as the needle is advanced into the tissue. Since the proach, the ?exible tubes comprise both the links and the joints of needle is initially straight, both base- and tip-steering methods the robot. Since the actuators attach to the tubes at their proximal rely on tissue reaction forces to ?ex the needle along a curved ends, the robot itself forms a slender curve that is well suited for insertion path. Consequently, these instruments possess no abil- minimally invasive medical procedures. This paper demonstrates ity to produce lateral tip motion without further penetration into the potential of this technology. Design principles are presented and a general kinematic model incorporating tube bending and solid tissue. torsion is derived. Experimental demonstration of real-time posi- The second category of instruments is composed of a straight, tion control using this model is also described. stiff shaft with an articulated tip-mounted tool (e.g., forceps). Index Terms—Continuum robots, ?exible arms, kinematics, Both hand-held and robotic instruments (e.g., da Vinci, Intuitive medical robots and systems, telerobotics. Surgical, Inc.) [1] of this