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Development of a Rigidity Tunable Flexible Joint Using Magneto-Rheological Compounds—Toward a Multijoint Manipulator for Laparoscopic Surgery

Laparoscopic surgery is a representative operative method of minimally invasive surgery. However, most laparoscopic hand instruments consist of rigid and straight structures, which have serious limitations such as interference by the instruments and limited field of view of the endoscope. To improve...

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Autores principales: Kitano, Sousaku, Komatsuzaki, Toshihiko, Suzuki, Ikuto, Nogawa, Masamichi, Naito, Hisashi, Tanaka, Shinobu
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2020
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805682/
https://www.ncbi.nlm.nih.gov/pubmed/33501227
http://dx.doi.org/10.3389/frobt.2020.00059
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author Kitano, Sousaku
Komatsuzaki, Toshihiko
Suzuki, Ikuto
Nogawa, Masamichi
Naito, Hisashi
Tanaka, Shinobu
author_facet Kitano, Sousaku
Komatsuzaki, Toshihiko
Suzuki, Ikuto
Nogawa, Masamichi
Naito, Hisashi
Tanaka, Shinobu
author_sort Kitano, Sousaku
collection PubMed
description Laparoscopic surgery is a representative operative method of minimally invasive surgery. However, most laparoscopic hand instruments consist of rigid and straight structures, which have serious limitations such as interference by the instruments and limited field of view of the endoscope. To improve the flexibility and dexterity of these instruments, we propose a new concept of a multijoint manipulator using a variable stiffness mechanism. The manipulator uses a magneto-rheological compound (MRC) whose rheological properties can be tuned by an external magnetic field. In this study, we changed the shape of the electromagnet and MRC to improve the performance of the variable stiffness joint we previously fabricated; further, we fabricated a prototype and performed basic evaluation of the joint using this prototype. The MRC was fabricated by mixing carbonyl iron particles and glycerol. The prototype single joint was assembled by combining MRC and electromagnets. The configuration of the joint indicates that it has a closed magnetic circuit. To examine the basic properties of the joint, we conducted preliminary experiments such as elastic modulus measurement and rigidity evaluation. We confirmed that the elastic modulus increased when a magnetic field was applied. The rigidity of the joint was also verified under bending conditions. Our results confirmed that the stiffness of the new joint changed significantly compared with the old joint depending on the presence or absence of a magnetic field, and the performance of the new joint also improved.
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spelling pubmed-78056822021-01-25 Development of a Rigidity Tunable Flexible Joint Using Magneto-Rheological Compounds—Toward a Multijoint Manipulator for Laparoscopic Surgery Kitano, Sousaku Komatsuzaki, Toshihiko Suzuki, Ikuto Nogawa, Masamichi Naito, Hisashi Tanaka, Shinobu Front Robot AI Robotics and AI Laparoscopic surgery is a representative operative method of minimally invasive surgery. However, most laparoscopic hand instruments consist of rigid and straight structures, which have serious limitations such as interference by the instruments and limited field of view of the endoscope. To improve the flexibility and dexterity of these instruments, we propose a new concept of a multijoint manipulator using a variable stiffness mechanism. The manipulator uses a magneto-rheological compound (MRC) whose rheological properties can be tuned by an external magnetic field. In this study, we changed the shape of the electromagnet and MRC to improve the performance of the variable stiffness joint we previously fabricated; further, we fabricated a prototype and performed basic evaluation of the joint using this prototype. The MRC was fabricated by mixing carbonyl iron particles and glycerol. The prototype single joint was assembled by combining MRC and electromagnets. The configuration of the joint indicates that it has a closed magnetic circuit. To examine the basic properties of the joint, we conducted preliminary experiments such as elastic modulus measurement and rigidity evaluation. We confirmed that the elastic modulus increased when a magnetic field was applied. The rigidity of the joint was also verified under bending conditions. Our results confirmed that the stiffness of the new joint changed significantly compared with the old joint depending on the presence or absence of a magnetic field, and the performance of the new joint also improved. Frontiers Media S.A. 2020-04-28 /pmc/articles/PMC7805682/ /pubmed/33501227 http://dx.doi.org/10.3389/frobt.2020.00059 Text en Copyright © 2020 Kitano, Komatsuzaki, Suzuki, Nogawa, Naito and Tanaka. http://creativecommons.org/licenses/by/4.0/ This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Kitano, Sousaku
Komatsuzaki, Toshihiko
Suzuki, Ikuto
Nogawa, Masamichi
Naito, Hisashi
Tanaka, Shinobu
Development of a Rigidity Tunable Flexible Joint Using Magneto-Rheological Compounds—Toward a Multijoint Manipulator for Laparoscopic Surgery
title Development of a Rigidity Tunable Flexible Joint Using Magneto-Rheological Compounds—Toward a Multijoint Manipulator for Laparoscopic Surgery
title_full Development of a Rigidity Tunable Flexible Joint Using Magneto-Rheological Compounds—Toward a Multijoint Manipulator for Laparoscopic Surgery
title_fullStr Development of a Rigidity Tunable Flexible Joint Using Magneto-Rheological Compounds—Toward a Multijoint Manipulator for Laparoscopic Surgery
title_full_unstemmed Development of a Rigidity Tunable Flexible Joint Using Magneto-Rheological Compounds—Toward a Multijoint Manipulator for Laparoscopic Surgery
title_short Development of a Rigidity Tunable Flexible Joint Using Magneto-Rheological Compounds—Toward a Multijoint Manipulator for Laparoscopic Surgery
title_sort development of a rigidity tunable flexible joint using magneto-rheological compounds—toward a multijoint manipulator for laparoscopic surgery
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC7805682/
https://www.ncbi.nlm.nih.gov/pubmed/33501227
http://dx.doi.org/10.3389/frobt.2020.00059
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