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Design, kinematics, and control a soft needle manipulator
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AI
J
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S
Y
J
DOI：10.1016/j.mechatronics.2026.103561.png)
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Abstract
En 中文
This paper introduces the design, kinematic modeling, and control of a soft manipulator for the needle manipulation tasks. This manipulator is composed of three soft pneumatic modules that are designed with unique soft-rigid hybrid structures. The tailored design enables the soft manipulator to achieve the consistent and accurate positioning of a needle, providing a new method for steering surgical tools in confined spaces. A Jacobian learning approach is proposed based on sparse identification to achieve the kinematic modeling, which offers an efficient way to discover the explicit representation of the Jacobian for this robot. Besides, an analytical model is also established for this manipulator under the assumption of constant curvature for comparison purposes. Subsequently, the closed loop control of this robot was investigated based on the two models. The effectiveness of the modeling and control approach and the functionality of the soft needle manipulator were examined via experiments. The results indicate that the Jacobian learning approach significantly improved the accuracy of the constant curvature model, enabling the accurate position control of the soft needle manipulator. Besides, the needle manipulating capability of this robot was validated via characterization experiments and a phantom test, demonstrating its applicability in surgeries, such as the biopsy.
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