Anisotropic Patterning to Reduce Instability of Concentric-Tube Robots

Title
Anisotropic Patterning to Reduce Instability of Concentric-Tube Robots
Authors
Dae-Young LeeJongwoo KimJi-Suk KimChangyeob Baek노건우Do-Nyun Kim김계리강성철Kyu-Jin Cho
Keywords
Concentric-tube robot; mechanism design; dexterous manipulation; medical robots and systems; tube patterning
Issue Date
2016-01
Publisher
IEEE transactions on robotics
Citation
VOL 283, NO 1, 1285-1294
Abstract
As a steerable needle or robotic manipulator, the concentric-tube robot shows good potential for use in minimally invasive medical procedures. However, the torsional deformation of the precurved tubes comes at the price of instability, which not only limits the workspace and tool path but also potentially creates danger of tissue rupture when external load is applied. In this paper, we propose anisotropic patterning of tubes to solve the instability problem. Hole-patterning can tune the mechanical properties of the tubes so that the ratio of the torsional rigidity to the bending rigidity becomes higher. This study investigates the effect of pattern design parameters by building a lumped analytical model and examining it with finite-element analysis. The pattern is engraved via laser machining and we experimentally verify that material anisotropy reduces instability.
URI
http://pubs.kist.re.kr/handle/201004/50774
ISSN
15523098
Appears in Collections:
KIST Publication > Article
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