Design and Evaluation of a Continuum Robot with Discreted link joints for Cardiovascular Interventions

Kim, Ki‐Young; Woo, Hyun Soo; Suh, Jungwook

doi:10.1109/biorob.2018.8487633

Cited by 13 publications

(8 citation statements)

References 14 publications

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“…Link-based embedded actuator [14,15] Tendon-driven hyperredundant [16][17][18][19][20][21][22][23] Tendon-driven continuum [24][25][26] Concentric tube [27][28][29] SMA tendon electric charges chemical pressurized fluids [30,31] In this study, a hyper-redundant manipulator with a rolling contact joint was chosen for the following reasons: (i) miniaturization, (ii) ease of control, (iii) compliance, and (iv) variable stiffness. Rolling contact joint manipulators have been explored by researchers for various surgical applications, such as retinal surgery [16], cardiovascular interventions [17], and endoluminal endoscopic surgery [20]. These devices have external diameters ranging from 1 mm to 17 mm.…”

Section: Actuationmentioning

confidence: 99%

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Sawant,

Gkikakis,

Mattos

2023

Machines

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Continuum manipulators, with their characteristics of flexibility and dexterity, have gained significant interest in various applications across industries such as inspection, manufacturing, space exploration, and medical surgery. However, because of their inherent compliance, handling payloads may prove challenging due to shape distortion and deflection. This demonstrates the need to optimize the manipulator’s stiffness. The primary objective of this work was to show the merits of sensitivity analysis in the design of flexible surgical manipulators. Such analysis can guide important design decisions and enable the more efficient use of available resources, contributing to designing more effective prototypes. A new sensitivity analysis framework based on a multi-model and a multi-method approach was proposed to achieve this. This framework was then demonstrated by studying a tendon-driven rolling contact joint hyper-redundant manipulator for transoral laser microsurgery. In this analysis, the effects of independent design parameters on the stiffness of the manipulator were examined. Then, scaled-up 3D-printed prototypes were used to validate the accuracy of the stiffness model experimentally, which enabled us to assess the outcome of the sensitivity analysis framework. The results demonstrated that only two out of five design parameters for the considered manipulator significantly impacted the device’s performance. This information could enable the designer to efficiently allocate resources toward correctly setting these two most important parameters to achieve the desired system. Overall, the proposed analysis framework is a general tool that can be applied to any design architecture, helping to develop optimal manipulators for various applications.

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Section: Actuationmentioning

confidence: 99%

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Sawant,

Gkikakis,

Mattos

2023

Machines

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“…Several studies have introduced continuum robots using hinge designs. As shown in Table 1, the hinge design can be classified into several types: (i) discrete joint [29][30][31], (ii) uni-directional compliant joint [32][33][34][35], (iii) bi-directional compliant joint [36][37][38][39][40][41], (iv) crossaxis compliant joint [42,43], (v) helical compliant joint [44][45][46], and (vi) symmetric compliant joint [47][48][49][50]. We selected a symmetric compliant joint, which has the advantage of high flexibility and strength for grasping and bending.…”

Section: Basic Designmentioning

confidence: 99%

Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

et al. 2022

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Gastrointestinal cancer, when detected early, is treated by accessing the lesion through the natural orifice using flexible endoscopes. However, the limited degree-of-freedom (DOF) of conventional treatment devices and the narrow surgical view through the endoscope demand advanced techniques. In contrast, multi-DOF forceps systems are an excellent alternative; however, these systems often involve high fabrication costs because they require a large number of micro-parts. To solve this problem, we designed compact multi-DOF endoluminal forceps with a monolithic structure comprising compliant hinges. To allow an efficient stress dispersion at the base end when the hinge bends, we proposed a novel design method to obtain the hinge parameters using the beam of uniform strength theory. This method does not involve a high computational cost. The results show that the improved design with a variable hinge thickness can reduce the maximum bending stress, dispersing the stress in a larger area than that of the previous design considering a constant thickness of the hinge. Moreover, the experiments conducted in a prototype confirm that the radius of the curvature was significantly improved. The proposed method could aid in designing other continuum robots relying on compliant hinges.

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“…Suh et al [13] proposed hyper-redundant rolling joints linked by NiTi elastic fixtures, which ensures a stable rolling motion. In [14], Kim et al removed the elastic fixture by positioning the driving cables in the middle of the discrete rolling-contact joints. Principle of rolling-contact mechanism was also applied in [15] by using protuberance and groove as constrain to ensure pure rolling motion between joints.…”

Section: Introductionmentioning

confidence: 99%

Design of a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint for minimally invasive surgery

2021

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Purpose Compliant mechanisms are commonly used in the design of manipulator and surgical robotic tools for minimally invasive surgery (MIS) thanks to their compactness, ability of miniaturization and lower part count. However, conventional compliant joint has higher internal stiffness, which limits the bending radius. To overcome this problem, a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint (CRCJ) is proposed. Methods The proposed rolling-contact mechanism is used to prevent cable slack during actuation, which occurs in conventional compliant joint design. By means of selective laser sintering (SLS) technique, the CRCJ can be fabricated in a monolithic structure, thus granting the CRCJ both the advantages of compliant joints and rolling-contact mechanism. Simulations with nonlinear finite element analysis (FEA) and experiments were conducted to evaluate and compare the mechanical properties of the proposed CRCJ with conventional leaf-type compliant joint including the bending and compliant motion. Results Experimental results showed that the CRCJ has lower bending stiffness, higher maximum bending angle (over $$180^{\circ }$$ 180 ∘ ) and a higher compliance compared to conventional compliant hinges, which allows a larger workspace and reduces the possibility of tissue injury. Agreement was also found between the nonlinear FEA and experiments regarding the relation between actuation force and bending angle. A primary prototype of a 3-DOF handheld laparoscopic manipulator with a diameter of 7 mm was further developed. Conclusion A dexterous tendon-driven monolithic manipulator structure based on CRCJ for MIS is proposed. A preliminary prototype of a handheld laparoscopic manipulator demonstrates the capability of the CRCJ for steerable medical devices. However, design improvements based on FEA and application-orientated prototypes considering anatomical requirements still show room for improvements.

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Design and Evaluation of a Continuum Robot with Discreted link joints for Cardiovascular Interventions

Cited by 13 publications

References 14 publications

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Investigating the Stiffness Characteristics of a Tendon-Driven Continuum Manipulator Using Sensitivity Analysis: A Case Study in Transoral Laser Microsurgery

Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

Design of a novel tendon-driven manipulator structure based on monolithic compliant rolling-contact joint for minimally invasive surgery

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