The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Static Modeling of a Miniaturized Continuum Robot for Surgical Interventions and Displacement Analysis under Lateral External Loads

중재 시술 적용을 위한 소형 연속체 로봇의 정역학 모델링 및 외부 측면 하중에 의한 변위 분석

  • Kim, Kiyoung (Department of Medical Assistant Robotics, KIMM) ;
  • Woo, Hyunsoo (Department of Medical Assistant Robotics, KIMM) ;
  • Cho, Jangho (Department of Medical Assistant Robotics, KIMM) ;
  • Shin, Minki (Department of Medical Assistant Robotics, KIMM) ;
  • Suh, Jungwook (Department of Robot and Smart System Engineering, Kyungpook National University)
  • Received : 2020.08.31
  • Accepted : 2020.11.03
  • Published : 2020.11.30
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Abstract

In this paper, we deal with the static modeling of a continuum robot that can perform surgical interventions. The proposed continuum robot is made of stainless steel wires and a multi lumen flexible tube using a thermoplastic elastomer. This continuum robot could be most severely deformed in physical contact with narrow external environments, when a lateral external force acts at the distal tip of the continuum robot. In order to predict the shape and displacement under the lateral external force loading, the forward kinematics, the statics modeling, the force-moment equilibrium equation, and the virtual work-energy method of the continuum robot are described. The deflection displacements were calculated using the virtual work-energy method, and the results were compared with the displacement obtained by the conventional cantilever beam theories. In conclusion, the proposed static modeling and the virtual work-energy method can be used in arrhythmia procedure simulations.

Keywords

References

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