There is an increasing popularity for the continuum robot in minimally invasive surgery owing to its compliance and dexterity. However, the dexterity takes the challenges in loading and precise control because of the absence of the shape tracking for the continuum robot. The purpose of this paper is to propose a new type of continuum manipulator with variable stiffness that can track the bending shape timely.
The low-melting-point alloy (LMPA) is used to implement the stiffness variation and shape detection for the continuum manipulator. A conceptual design for a single module is presented, and the principle of stiffness control based on the established static model is formulated. Afterward, a shape detection method is introduced in which the shape of the continuum manipulator can be detected by measuring the resistance of every LMPA. Finally, the effect of the proposed variable stiffness method is verified by simulation; the variable stiffness and shape detection methods are evaluated by experiments.
The results from the simulations and experiments indicate that the designed continuum manipulator has the ability of stiffness variation over 42.3% and the shape detection method has high precision.
Compared with conventional structures, the novel manipulator has a simpler structure and integrates the stiffness variation and shape detection capabilities with the LMPA. The proposed method is promising, and it can be conveniently extended to other continuum manipulators.
