The kinematic synthesis of a spatial, hyper-redundant system based on binary electromagnetic actuators

verfasst von

Svenja Tappe, Michael Dörbaum, Axel Mertens, Bernd Ponick, Jens Kotlarski, Tobias Ortmaier

Abstract

Flexible endoscopes are a common instrument for different tasks in minimally invasive surgery. The motion and capability of resistance against manipulation forces of common endoscopes is restricted due to their flexibility. They tend to form loops and stress their surroundings. This paper proposes an active shaft concept based on a new actuation concept: the shaft is a hyper-redundant snake-like robot with binary electromagnetic actuators. This system combines good path following capabilities through actively controlling the whole endoscope body with good resistance with respect to manipulation forces through electromagnetism. The functional concept is presented and the influence of design parameters on kinematic characteristics such as workspace and radius of curvature is evaluated. Additionally, a set of kinematic design parameters is synthesized by minimizing the contouring error. Therefore, a path fitting algorithm is proposed.

Organisationseinheit(en)

Institut für Mechatronische Systeme
Institut für Antriebssysteme und Leistungselektronik
Fachgebiet Elektrische Maschinen und Antriebssysteme

Typ

Aufsatz in Konferenzband

Seiten

211-216

Anzahl der Seiten

6

Publikationsdatum

06.04.2015

Publikationsstatus

Veröffentlicht

Peer-reviewed

Ja

ASJC Scopus Sachgebiete

Steuerungs- und Systemtechnik, Artificial intelligence, Maschinelles Sehen und Mustererkennung, Angewandte Informatik

Elektronische Version(en)

https://doi.org/10.1109/icara.2015.7081149 (Zugang: Geschlossen)