PMID- 33019086
OWN - NLM
STAT- MEDLINE
DCOM- 20201026
LR  - 20201026
IS  - 2694-0604 (Electronic)
IS  - 2375-7477 (Linking)
VI  - 2020
DP  - 2020 Jul
TI  - Development of a variable-stiffness and shape-detection manipulator based on 
      low-melting-point-alloy for minimally invasive surgery.
PG  - 4895-4898
LID - 10.1109/EMBC44109.2020.9176466 [doi]
AB  - There is an increasingly popularity for the continuum robot in minimally invasive 
      surgery(MIS), because of the compliance and dexterity. In the first place, a 
      variable stiffness manipulator can resolve the two contradictions of the demands 
      for predominant flexibility and strong payload capacity. In the second place, to 
      control the continuum robot more precisely and avoid the collision between robot 
      and human body, real-time tracking of the shape of the continuum robot is of 
      great significance. A new type of flexible manipulator with variable stiffness is 
      proposed which can track the bending shape timely. The low-melting-point-alloy 
      (LMPA) is used to realize the variable stiffness and shape detection for the 
      flexible manipulator. The concept design for a single module is put forward. Then 
      the stiffness control method and finite element simulation, the method of shape 
      detection are presented. Moreover, the presented method of shape detection is 
      evaluated by experiments.
FAU - Wei, Xiaoyong
AU  - Wei X
FAU - Ju, Feng
AU  - Ju F
FAU - Chen, Bai
AU  - Chen B
FAU - Guo, Hao
AU  - Guo H
FAU - Qi, Fei
AU  - Qi F
FAU - Bai, Dongming
AU  - Bai D
FAU - Ding, Yadong
AU  - Ding Y
LA  - eng
PT  - Journal Article
PT  - Research Support, Non-U.S. Gov't
PL  - United States
TA  - Annu Int Conf IEEE Eng Med Biol Soc
JT  - Annual International Conference of the IEEE Engineering in Medicine and Biology 
      Society. IEEE Engineering in Medicine and Biology Society. Annual International 
      Conference
JID - 101763872
RN  - 0 (Alloys)
SB  - IM
MH  - *Alloys
MH  - Equipment Design
MH  - Humans
MH  - *Minimally Invasive Surgical Procedures
EDAT- 2020/10/07 06:00
MHDA- 2020/10/27 06:00
CRDT- 2020/10/06 01:06
PHST- 2020/10/06 01:06 [entrez]
PHST- 2020/10/07 06:00 [pubmed]
PHST- 2020/10/27 06:00 [medline]
AID - 10.1109/EMBC44109.2020.9176466 [doi]
PST - ppublish
SO  - Annu Int Conf IEEE Eng Med Biol Soc. 2020 Jul;2020:4895-4898. doi: 
      10.1109/EMBC44109.2020.9176466.