A quasi-static model of wheel-tissue interaction for surgical robotics

作者：Wang Xin^*; Sliker Levin J; Qi H Jerry; Rentschler Mark E

来源：Medical Engineering & Physics, 2013, 35(9): 1368-1376.

DOI：10.1016/j.medengphy.2013.03.008

• Contact modeling
• Mobility
• Surgery
• Biomechanics
• Tissue engineering

Wheel-driven mobile in vivo robotic devices can provide an unconstrained platform for visualization and task performance. Careful understanding of the wheel-tissue interaction is necessary to predict in vivo performance of medical mobility systems. Here, an analytical study of the friction involving rolling contact of a surgical wheel, moving at constant velocities over soft tissue, is presented and verified. A quasi-static frictionless solution is first derived from existing theory, and newly developed theory considering frictional effects is later introduced. In this analysis, the effect of friction on wheel mobility over a viscoelastic substrate is analyzed with wheel velocity as the only changing variable. The analytical model is later verified by experiments and Finite Element Method (FEM) simulations. A simple application of this model to help design a surgical robot is also presented. Additional results indicate that the resistance force, which arises from the tissue viscosity, approaches zero for small and very large wheel velocities.

• 出版日期2013-9