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dc.contributor.author강성철-
dc.contributor.author박경수-
dc.contributor.author김계리-
dc.contributor.author김천우-
dc.contributor.author최성화-
dc.contributor.author권성일-
dc.contributor.authorSara Van Kalker-
dc.contributor.authorSeok Chang Ryu-
dc.date.accessioned2021-06-09T04:22:28Z-
dc.date.available2021-06-09T04:22:28Z-
dc.date.issued2019-05-
dc.identifier.issn--
dc.identifier.other53018-
dc.identifier.urihttp://pubs.kist.re.kr/handle/201004/69642-
dc.description.abstractWe present a transformable catheter head structure for endoscopic catheter allowing the simultaneous use of a camera module and a large tool channel introduced through a small incision. At the site of interest, the head with a camera can be expanded from the initial straight configuration, which opens a window for advancing a tool that is located behind the camera. Two different designs were proposed and prototyped. One option has flexure joints directly fabricated at the distal end of a polymer catheter by laser micro-machining, while another design employs a hinged metal head assembled at the tip of the same type of catheter. The kinematic behavior of each head was evaluated during the head-up and tip steering motions, and compared with each other to draw a selection guideline between them. Experimental results prove the feasibility of the proposed head structure for smarter endoscopic catheters.-
dc.publisher2019 International Conference on Robotics and Automation (ICRA)-
dc.titleDesign and Fabrication of Transformable Head Structures for Endoscopic Catheters-
dc.typeConference Paper-
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