Study on the Relationship Between Wire Rope and Spring Tube Drawn by Flexible Surgical Robot
After the endoscope enters the subject,it cannot accurately judge the overall shape of the endoscope through the returned picture.In order to more accurately control the curvature of the snake bone,it is necessary to analyze the interrelation between the insertion tube and its artifacts.This paper analyzes the spring and the steel wire rope in the inner objects and proposes a theoretical model of the relative position between the traction steel wire rope and the spring tube when inserted into the pipe without force.Based on the Ramberg-Osgood model,the elastic deformation of the steel wire rope after tension is derived.Based on the experimental data,the relation formulae between the length variation of the wire rope and the tension,the bending radius and the bending angle are fitted with the least square method.It is proved that the error is less than 10％when the wire rope is not stressed,and for90％of the total data points,the error between the theoretical formula and the experimental data is less than 16％after the wire rope is strained accounts.
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