Flexible distal tip made of nitinol (NiTi) for a steerable endoscopic camera system

Fischer, Harald; Vögel, Bernd; Pfleging, Wilhelm; Besser, Heino

doi:10.1016/s0921-5093(99)00415-3

Cited by 31 publications

(19 citation statements)

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“…Fischer et al devised a 10-mm tool for endoscopic camera steering [26]. Kutzer et al created a 6-mm tendon-driven tool for arthroscopy using rectangular cutouts [27].…”

Section: Introductionmentioning

confidence: 99%

A wrist for needle-sized surgical robots

York

Swaney

Gilbert

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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The needle-sized surgical tools used in arthroscopy, otolaryngology, and other surgical fields could become even more valuable to surgeons if endowed with the ability to navigate around sharp corners to manipulate or visualize tissue. We present a needle-sized wrist design that grants this ability. It can be easily interfaced with manual tools or concentric tube robots and is straightforward and inexpensive to manufacture. The wrist consists of a nitinol tube with several asymmetric cutouts, actuated by a tendon. Perhaps counter-intuitively, within this seemingly simple design concept, design optimization is challenging due to the number of parameters available and nonlinearities in material properties. In this paper, we examine a subset of possible geometries and derive kinematic and static models. Experimental results with a 1.16 mm diameter prototype validate the models. Lastly, we provide a discussion summarizing the lessons learned in our early experience designing and fabricating wrists of this type.

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“…Fischer et al devised a 10-mm tool for endoscopic camera steering [26]. Kutzer et al created a 6-mm tendon-driven tool for arthroscopy using rectangular cutouts [27].…”

Section: Introductionmentioning

confidence: 99%

A wrist for needle-sized surgical robots

York

Swaney

Gilbert

et al. 2015

2015 IEEE International Conference on Robotics and Automation (ICRA)

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“…Particularly, detailed finite element models of realistic complexity are rare in this context. Some work has been done on shape optimization of SMA structures through minimization of Von Mises stresses (Fischer et al, 1999, Kohl and Skrobanek, 1998, Skrobanek et al, 1997, but full design optimization based on detailed finite element models including electrical, thermal and mechanical effects has not been reported yet.…”

Section: Introductionmentioning

confidence: 99%

“…Skrobanek et al (1997) have reported the use of a heuristic peak stress reduction algorithm in the design of SMA microvalves, which can be viewed as a kind of shape optimization. The same procedure has been used by Fischer et al (1999) to reduce peak stresses in the design of a flexible SMA endoscope tip. Finite element modeling is used, so this method can be applied to a wide variety of structures.…”

Section: Introductionmentioning

confidence: 99%

“…Kohl et al (2000a,b), Kohl and Skrobanek (1998) use an heuristic peak stress reduction algorithm developed by Mattheck and Burkhardt (Mattheck and Burkhardt, 1990), which basically reduces notch stresses by simulating the growth of trees. The same algorithm is used by Fischer et al (1999) in the design of a Ni-Ti flexible endoscope tip. In all these works, no specific details are given on the optimization procedure and the material model used, but the lack of additional information seems to indicate the use of standard linear elasticity.…”

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confidence: 99%

“…Several examples of the application of design optimization concepts to SMA design problems can be found in recent literature (e.g Dumont and Kuhl, 2005, Fischer et al, 1999, Langelaar and Van Keulen, 2004a, Lu et al, 2001, Skrobanek et al, 1997. However, none of these studies used efficient gradient-based optimization algorithms.…”

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confidence: 99%

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Microfabrication in Metals and Polymers

Brandner¹,

Gietzelt²,

Henning³

et al. 2006

Advanced Micro and Nanosystems

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In this chapter, the fabrication of microstructure components and devices out of metals and polymers will be described briefly. Influences of the material choice and the basic process parameters with regard to the manufacturing of microstructure components are discussed as are bonding, sealing and packaging of devices. Examples for the choice of material are given. Manufacturing processes for metal microstructure components and microstructures made of certain polymers are described briefly with a clear focus on some special microstructuring methods well established in microstructure technology. Examples of those techniques are given. In the bonding section, the most common bonding and sealing techniques are briefly described. The main focus here is on techniques that allow a prototype manufacturing as well as a small-scale or large-scale series production of devices suitable for reaction or process engineering. Special regard is given to the different methods to obtain devices with mass-flow ranges suitable for industrial production of, e.g., chemicals in microstructure devices. Quality assurance and the long-term stability are also taken into account. Finally, a short view to series production of microstructure components is given. This chapter does not give a complete overview of the large field of generating microstructure devices, but may show some opportunities and, with the references placed at the end of the chapter, some good hints to find more detailed descriptions for the case under consideration.

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Flexible distal tip made of nitinol (NiTi) for a steerable endoscopic camera system

Cited by 31 publications

References 0 publications

A wrist for needle-sized surgical robots

A wrist for needle-sized surgical robots

Design Optimization of Shape Memory Alloy Structures

Microfabrication in Metals and Polymers

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