A Novel Methodology for Comprehensive Modeling of the Kinetic Behavior of Steerable Catheters

Hu, Xiaohua; Cao, Lin; Luo, Yigang; Chen, Ang; Zhang, Edwin; Zhang, W. J.

doi:10.1109/tmech.2019.2928786

Cited by 71 publications

(39 citation statements)

References 30 publications

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“…Another indirect method to measure the force at the tips of soft grippers is to infer it using a kinematic model. This approach is vital for medical applications where less invasive designs are required [16]. These technologies provide a way to control the forces exerted on the object and can be very important when the target object is fragile.…”

Section: Related Workmentioning

confidence: 99%

Gripper Control Design and Simulation for OpenROV Submarine Robot

Rawashdeh

Abu-Alrub

2021

Actuators

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In this work, a design of a gripper for the underwater OpenROV vehicle is presented. OpenROV is an open-source underwater vehicle design for remote underwater exploration. It can enable systems of underwater internet of things and real-time monitoring. Mechanical aspects of the presented gripper design are discussed including actuation, motion transmission, kinematics and general arrangement, which resembles a delta robot. The Denavit-Hartenberg (DH) notation will be employed to define reference frames on one of the fingers in order to build transformation matrices and the forward kinematics matrix. The results from the forward kinematics are used to define the workspace that can be covered by each finger. The maximum force from the fingertip is estimated using Newton-Euler equations. Finally, the transfer function and the mass moment of inertia of the second link in the finger, that is, the fingertip is calculated for control simulations. A control stability analysis is provided and shows a stable system.

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Section: Related Workmentioning

confidence: 99%

Gripper Control Design and Simulation for OpenROV Submarine Robot

Rawashdeh

Abu-Alrub

2021

Actuators

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“…In medical practice, a surgeon inserts a catheter through a small opening (Ashwin and Ghosal, 2019;Hu et al, 2019;Lai et al, 2019;Sikorski et al, 2019) using a guide wire (Bruthans and Trča, 2019;Işık, 2019;Komiyama et al, 2019). First, the surgeon inserts the guide wire into the opening, and then inserts the catheter into the guide wire.…”

Section: Related Workmentioning

confidence: 99%

Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines

Miura¹,

Nakagami

Parque

et al. 2020

Mechanical Engineering Journal

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Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines 1. Introduction Pipelines are indispensable for supplying resources to cities and homes (Takeshima and Takayama, 2018; Y. Li et al., 2019). In Japan, the underground gas pipeline extends for more than 1.5 billion km (Gas Pipe Overview, 2018). Generally, gas is sent through main pipes under the public road and branches into external gas pipes at residential sites (Fig. 1). The main pipes are of size "50A" (diameter: 52.9 mm), whereas the external gas pipes are of size "25A" (diameter: 27.6 mm) (Gas Pipe Overview, 2018). External gas pipes have four sets of two turns consisting of a bend and an elbow (Gas Pipe Overview, 2018). The total length of an external pipe is about 7.0 m. Because these pipes are installed underground, they are not being maintained. Therefore, corrosion often appears inside the pipes as they age (Cole and Marney, 2012). The most widespread method of inspecting the interior of a gas pipe is visual inspection using an endoscope. One example is using a flexible microscope, as shown in Fig. 2. The operator uses the hand console to manipulate the tip with the microscope camera. However, it is impossible to insert a microscope into a buried pipe because the microscope buckles and stops in the pipe. Thus, when an accident occurs at an external gas pipeline, the buried pipes are dug up randomly until the staff finds the causes. This requires stopping the gas flow and digging up the branch pipe extending from the load (Ogai and Bhattacharya, 2018). The entire process takes more than 1 day, and the gas cannot be used while the pipes are being inspected. Furthermore, digging up and refilling the load has a high cost, which includes personal expenditure and catering (Cole and Marney, 2012).

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“…Furthermore, there are studies on using friction as an active role in the device, e.g., inertiafriction actuation principle [5−10]. There are studies on complex dynamics involving friction, e.g., in the medical device [11,12].…”

Section: Introductionmentioning

confidence: 99%

State of the art of friction modelling at interfaces subjected to elastohydrodynamic lubrication (EHL)

Mueller

Zhang

2020

Friction

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Elastohydrodynamic lubrication (EHL) is a type of fluid-film lubrication where hydrodynamic behaviors at contact surfaces are affected by both elastic deformation of surfaces and lubricant viscosity. Modelling of contact interfaces under EHL is challenging due to high nonlinearity, complexity, and the multi-disciplinary nature. This paper aims to understand the state of the art of computational modelling of EHL by (1) examining the literature on modeling of contact surfaces under boundary and mixed lubricated conditions, (2) emphasizing the methods on the friction prediction occurring to contact surfaces, and (3) exploring the feasibility of using commercially available software tools (especially, Simulia/Abaqus) to predict the friction and wear at contact surfaces of objects with relative reciprocating motions.

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A Novel Methodology for Comprehensive Modeling of the Kinetic Behavior of Steerable Catheters

Cited by 71 publications

References 30 publications

Gripper Control Design and Simulation for OpenROV Submarine Robot

Gripper Control Design and Simulation for OpenROV Submarine Robot

Bi-rigid guide wire enables endoscope insertion into winding small gas pipelines

State of the art of friction modelling at interfaces subjected to elastohydrodynamic lubrication (EHL)

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