Preliminary study of utilizing plastic tubes as a component of continuum robots

Makarets, Denys; Noh, Gunwoo; Kim, Keri; Lee, Deukhee

doi:10.1109/iccas.2014.6987989

Cited by 5 publications

(4 citation statements)

References 6 publications

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“…For problems restricted to two dimensions, setups with one camera are employed. The extraction of relevant points is done manually [34], by image processing of deliberately placed optical markers [35] or directly from cannula features [36,37]. Using a stereo camera system to detect fiducial markers on the surface of a tube by manually selecting them in both images seems to be the first and often employed approach for tube shape measurement in 3D [4,[38][39][40].…”

Section: Cannula Position Detectionmentioning

confidence: 99%

On the influence of pseudoelastic material behaviour in planar shape-memory tubular continuum structures

Greiner-Petter

Sattel

2017

Smart Mater. Struct.

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For planar tubular continuum structures based on precurved shape memory alloy tubes a beam model with respect to the pseudoelastic material behaviour of NiTi is derived. Thereunto a constitutive material law respecting tension-compression asymmetry as well as hysteresis is used. The beam model is then employed to calculate equilibrium curvatures of concentric tube assemblies without clearance between the tubes. In a second step, the influence of clearance is approximated to account for non-concentric tube assemblies. These elastokinematic results are integrated into a purely kinematic model to describe the cannula path under the presence of material hysteresis and clearance. Finally a photogrammetric measurement system is used to track the path of an exemplary two-tube continuum structure to examine the accuracy of the proposed model. It is shown that material hysteresis leads to a hysteresis phenomena in the path of the tubular continuum structure.

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Section: Cannula Position Detectionmentioning

confidence: 99%

On the influence of pseudoelastic material behaviour in planar shape-memory tubular continuum structures

Greiner-Petter

Sattel

2017

Smart Mater. Struct.

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“…This approach provides an alternative, rapid, and cost-effective fabrication method. Indeed, medical-grade heat-shrink tube HS-S14 (Insultab, Inc., Woburn, MA, USA) has been used in [65], [101] for the innermost tube of a three-tube CTR. The bending process consisted of placing the heat-shrink tube in a jig with a metallic guide wire inside its lumen to preserve its shape.…”

Section: B Tube Fabricationmentioning

confidence: 99%

“…Indeed, the fabricated bent tubes had their radius of curvature permanently increased when translated inside a straight metal tube. More precisely, rapid changes in their radius of curvature occurred below a few dozen cycles, most likely due to fatigue [65], [101] and tended to stabilize afterwards. Presently, this approach seems to be discontinued, as it is limited to the fabrication of only the innermost CTR tube.…”

Section: B Tube Fabricationmentioning

confidence: 99%

Design and Fabrication of Concentric Tube Robots: A Survey

et al. 2023

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Concentric tube robots (CTRs) have drawn significant research attention over the years, particularly due to their applications in minimally invasive surgery (MIS). Indeed, their small size, flexibility, and high dexterity enable several potential benefits for MIS. Research has led to an increasing number of discoveries and scientific breakthroughs in CTR design, fabrication, control, and applications. Numerous prototypes have emerged from different research groups, each with their own design and specifications. This survey paper provides an overview of the state-of-the-art of the mechatronics aspects of CTRs, including approaches for the design and fabrication of the tubes, actuation unit, and end effector. In addition to the various hardware and associated fabrication methods, we propose to the research community, a unifying way of classifying CTRs based on their actuation unit architecture, as well as a set of specification details for evaluation of future CTR prototypes. Finally, we also aim to highlight the current advancements, challenges, and perspectives of CTR design and fabrication.

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“…It is possible to use only heat-shrink plastic tubing to obtain a precurved CTR tube, as demonstrated in Refs. [55,56] The process involved using a precurved wire as a mold and a heat gun for thermal treatment. The resultant tube had a diameter range on the millimeter scale after shrinkage and a large radius change deformation.…”

Section: Experimental Section 41 Tube Shapingmentioning

confidence: 99%

The Caturo: A Submillimeter Diameter Glass Concentric Tube Robot with High Curvature

Nwafor

Laurent

Rougeot

et al. 2022

Advanced Intelligent Systems

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Concentric tube robots (CTRs), referred to as active cannulas in medicine, are among the smallest members of the continuum (i.e., continuously flexible) robot family. [1,2] They comprise concentrically precurved tubes nested into each other (Figure 1A). Due to the arrangement of the tubes, when actuated (translation/rotation at its proximal end), the configuration of the backbone of the robot changes as the tubes elastically interact. [3] It has evolved tremendously from manual to automated systems over time; the earliest prototype was developed around 1985. This early prototype consisted of a straight outer tube and a precurved interior wire (the Mammalok). Eventually, this prototype progressed to a motorized version in 2005. [4] The structural component of the active part, which only has concentric tubes, makes further miniaturization possible when compared to other members of the continuum robot family [with a tendon, rod, and disk and no shape memory alloy (SMA), electroactive polymers (EAP), or pneumatic backbone actuated type of continuum robots]. [1,5] Many proposed CTR applications primarily focus on clinical intervention due to CTRs' dexterity and ability to be deployed throughout hard-toreach surgical sites, where existing straight and rigid minimally invasive surgery (MIS) instruments are unable to reach. In fact, their inherent compliance enables them to be safely implemented into medical environments. [1,4] These proposed applications include: skull base surgery, abdominal surgery, neurosurgery, cardiac surgery, transvascular surgery, natural orifice surgery, and urological surgery, as reviewed in Refs. [5,6] Most proposed applications of CTRs are still exclusively used for medical interventions. However, these applications could also be used outside of medicine.The design and fabrication of CTR tubes over the years have depended on Nitinol. Nitinol is flexible, with elastic strain that can reach 8-11%; it has superelasticity, which makes it possible to be precurved into any given shape through heat setting. [1,7] The Nitinol tube can be constrained into a desired shape or mold either with an air furnace or by electric joule heating. CTR has some technical limitations in terms of the commercially available diameters, which determine its obtainable radius of curvature. The fabrication and bending process used to precurve the Nitinol CTR tubes require heating in a furnace (typically 500 °C for 20 min). A patterned engraved steel mold is used to constrain the tube in the desired shape, which may not permit patient-specific, fast, and on-site fabrication. In addition, the spring-back effect makes it difficult to precisely control the obtained curvature. The advances made in 3D additive manufacturing paved the way for the use of polymers and plastics in CTR tube prototyping. For medical applications, the possibility for on-site and direct fabrication approach constitutes a major advantage in patient-specific and procedure-specific scenarios

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Preliminary study of utilizing plastic tubes as a component of continuum robots

Cited by 5 publications

References 6 publications

On the influence of pseudoelastic material behaviour in planar shape-memory tubular continuum structures

On the influence of pseudoelastic material behaviour in planar shape-memory tubular continuum structures

Design and Fabrication of Concentric Tube Robots: A Survey

The Caturo: A Submillimeter Diameter Glass Concentric Tube Robot with High Curvature

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