Lee, Dae-Young Kim, Jongwoo Kim, Ji-Suk Baek, Changyeob Noh, Gunwoo Kim, Do-Nyun Kim, Keri Kang, Sungchul Cho, Kyu-Jin 2024-01-20T05:32:35Z 2024-01-20T05:32:35Z 2021-09-03 2015-12 1552-3098 https://pubs.kist.re.kr/handle/201004/124708 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. English IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC OPTIMIZATION ALGORITHM Anisotropic Patterning to Reduce Instability of Concentric-Tube Robots Article 10.1109/TRO.2015.2481283 1 IEEE TRANSACTIONS ON ROBOTICS, v.31, no.6, pp.1311 - 1323 IEEE TRANSACTIONS ON ROBOTICS 31 6 1311 1323 scie scopus 000366663300004 2-s2.0-84960807755 Robotics Robotics Article OPTIMIZATION ALGORITHM Concentric-tube robot dexterous manipulation mechanism design medical robots and systems tube patterning