Design and Control of the Manipulator of Magnetic Surgical Forceps with Cable Transmission
Magnetically actuated medical robots have attracted growing research interest because magnetic force can transmit power in a non-contact manner to fix magnetic surgical instruments onto the inner wall of the abdominal cavity. In this paper, we present magnetic and cable-driven surgical forceps with...
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MDPI AG
2025-05-01
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| author | Jingwu Li Zhijun Sun |
| author_facet | Jingwu Li Zhijun Sun |
| author_sort | Jingwu Li |
| collection | DOAJ |
| description | Magnetically actuated medical robots have attracted growing research interest because magnetic force can transmit power in a non-contact manner to fix magnetic surgical instruments onto the inner wall of the abdominal cavity. In this paper, we present magnetic and cable-driven surgical forceps with cable transmission. The design achieves significant diameter reduction in the manipulator by separating the power sources (micro-motors) from the manipulator through cable transmission, consequently improving surgical maneuverability. The manipulator adopting cable transmission mechanism has the problem of joint motion coupling. Additionally, due to the compact space within the magnetic surgical forceps, it is difficult to install pre-tightening or decoupling mechanisms. To address these technical challenges, we designed a pair of miniature pre-tensioning buckles for connecting and pre-tensioning the driving cables. A mathematical model was established to characterize the length changes of the coupled joint-driving cables with the angles of moving joints and was integrated into the control program of the manipulator. Joint motion decoupling was achieved through real-time compensation of the length changes of the coupled joint-driving cables. The decoupling and control effects of the manipulator have been verified experimentally. While one joint moves, the angle changes of the coupled joints are within 2°. |
| format | Article |
| id | doaj-art-2eae260d92b54ac5b631a5a3145d7cc6 |
| institution | OA Journals |
| issn | 2072-666X |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
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| series | Micromachines |
| spelling | doaj-art-2eae260d92b54ac5b631a5a3145d7cc62025-08-20T02:21:14ZengMDPI AGMicromachines2072-666X2025-05-0116665010.3390/mi16060650Design and Control of the Manipulator of Magnetic Surgical Forceps with Cable TransmissionJingwu Li0Zhijun Sun1State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaState Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, ChinaMagnetically actuated medical robots have attracted growing research interest because magnetic force can transmit power in a non-contact manner to fix magnetic surgical instruments onto the inner wall of the abdominal cavity. In this paper, we present magnetic and cable-driven surgical forceps with cable transmission. The design achieves significant diameter reduction in the manipulator by separating the power sources (micro-motors) from the manipulator through cable transmission, consequently improving surgical maneuverability. The manipulator adopting cable transmission mechanism has the problem of joint motion coupling. Additionally, due to the compact space within the magnetic surgical forceps, it is difficult to install pre-tightening or decoupling mechanisms. To address these technical challenges, we designed a pair of miniature pre-tensioning buckles for connecting and pre-tensioning the driving cables. A mathematical model was established to characterize the length changes of the coupled joint-driving cables with the angles of moving joints and was integrated into the control program of the manipulator. Joint motion decoupling was achieved through real-time compensation of the length changes of the coupled joint-driving cables. The decoupling and control effects of the manipulator have been verified experimentally. While one joint moves, the angle changes of the coupled joints are within 2°.https://www.mdpi.com/2072-666X/16/6/650magnetic and cable-driven surgical forcepsmanipulatordecoupling control |
| spellingShingle | Jingwu Li Zhijun Sun Design and Control of the Manipulator of Magnetic Surgical Forceps with Cable Transmission Micromachines magnetic and cable-driven surgical forceps manipulator decoupling control |
| title | Design and Control of the Manipulator of Magnetic Surgical Forceps with Cable Transmission |
| title_full | Design and Control of the Manipulator of Magnetic Surgical Forceps with Cable Transmission |
| title_fullStr | Design and Control of the Manipulator of Magnetic Surgical Forceps with Cable Transmission |
| title_full_unstemmed | Design and Control of the Manipulator of Magnetic Surgical Forceps with Cable Transmission |
| title_short | Design and Control of the Manipulator of Magnetic Surgical Forceps with Cable Transmission |
| title_sort | design and control of the manipulator of magnetic surgical forceps with cable transmission |
| topic | magnetic and cable-driven surgical forceps manipulator decoupling control |
| url | https://www.mdpi.com/2072-666X/16/6/650 |
| work_keys_str_mv | AT jingwuli designandcontrolofthemanipulatorofmagneticsurgicalforcepswithcabletransmission AT zhijunsun designandcontrolofthemanipulatorofmagneticsurgicalforcepswithcabletransmission |