Flexible Manipulator with Low-Melting-Point Alloy Actuation and Variable Stiffness

Flexible manipulators offer significant advantages over traditional rigid manipulators in minimally invasive surgery, because they can flexibly navigate around obstacles and pass cramped or tortuous paths. However, due to the inherent low stiffness, the ability to control/obtain higher stiffness when required remains to be further explored. In this article, we propose a flexible manipulator that exploits the phase transformation property of low-melting-point alloy to hydraulically drive and change the stiffness by heating and cooling. A prototype was fabricated, and experiments were conducted to evaluate the motion characteristics, stiffness performance, and rigid-flexible transition efficiency. The experimental results demonstrate that the proposed manipulator can freely adjust heading direction in the three-dimensional space. The experimental results also indicate that it took 9.2-10.3 s for the manipulator to transform from a rigid state to a flexible state and 15.4 s to transform from a flexible state to a rigid state. The lateral stiffness and flexural stiffness of the manipulator were 95.54 and 372.1 Ncm(2) in the rigid state and 7.26 and 0.78 Ncm(2) in the flexible state. The gain of the lateral stiffness and flexural stiffness was 13.15 and 477.05, respectively. In the rigid state, the ultimate force without shape deformation was more than 0.98 N in the straight condition (0 degrees) and 1.36 N in the bending condition (90 degrees). By assembling flexible surgical tools, the manipulator can enrich the diagnosis or treatment functions, which demonstrated the potential clinical value of the proposed manipulator.