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http://dx.doi.org/10.7746/jkros.2020.15.4.301

Static Modeling of a Miniaturized Continuum Robot for Surgical Interventions and Displacement Analysis under Lateral External Loads  

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)
Publication Information
The Journal of Korea Robotics Society / v.15, no.4, 2020 , pp. 301-308 More about this Journal
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
Continuum Robot; Static Modeling; Cantilever Beam; Virtual Work; Surgical Interventions;
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Times Cited By KSCI : 4  (Citation Analysis)
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