| Zhu Mengyang (朱孟阳),Gong Zhiheng,Yuan Shaoke,Fei Yanqiong.[J].高技术通讯(英文),2026,32(2):169~176 |
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| Design and control of a flexible supporting mechanism for creating surgical workspace |
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| DOI：10. 3772 / j. issn. 1006-6748. 2026. 02. 006 |
| 中文关键词: |
| 英文关键词: flexible supporting mechanism, soft actuator, orbital minimally invasive surgery,closed loop control |
| 基金项目: |
| Author Name | Affiliation | | Zhu Mengyang (朱孟阳) | (School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, P. R. China) | | Gong Zhiheng | | | Yuan Shaoke | | | Fei Yanqiong | |
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| 中文摘要: |
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| 英文摘要: |
| To address the challenges of limited workspace and high tissue-injury risk in orbital minimally invasive surgery, this study proposes a compact negative-pressure-driven flexible supporting mechanism. The mechanism integrates three S-shaped soft actuators fabricated using heat-sealed polyethylene (PE) film and thermoplastic polyurethane (TPU) scale units, enabling conformal deployment within the confined orbital cavity. A nonlinear mechanical model describing the pressure-deformation-force relationship of the actuator is established based on experimental characterization. A closed-loop pressure regulation strategy is developed with vacuum pressure sensor and contact force sensor to estimate deformation in real time. Experiments conducted in a 2∶ 1 orbital model demonstrate that the mechanism could reliably expand within restricted spaces, maintain contact pressure below the 10 kPa safety threshold, and trigger emergency stop actions under abnormal loading. The results verifiy the feasibility and safety of the proposed mechanism for creating a stable operative workspace in orbital minimally invasive surgery. |
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