Underactuated miniature bending joint composed of serial pulleyless rolling joints

This paper proposes a miniature bending joint composed of serial rolling joints; it refers to the classification of small joints of other products and studies on surgical applications according to the structures and transmissions. To achieve this, a pulleyless rolling joint is introduced as a unit component and the basic design principle is established for the joint. A simple mechanism guarantees a smooth rolling contact using elastic fixtures. Underactuation, which prevents S-shaped curvature similar to buckling, is applied to drive the bending joint with a limited number of wire cables. Using a 1-DOF real-sized prototype, experiments were performed to measure the motion accuracy and payload capacity from various angles to evaluate the efficacy of an improved design that enhances the payload on the distal end. This novel joint is applicable to a wider variety of surgical tools and catheters relative to other candidates owing to its small constant curvature, reasonable payload capacity, and miniature size.
Publisher
TAYLOR FRANCIS LTD
Issue Date
2014-01
Language
ENG
Keywords

SURGERY; MECHANISM; SYSTEM; DESIGN

Citation

ADVANCED ROBOTICS, v.28, no.1, pp.1 - 14

ISSN
0169-1864
DOI
10.1080/01691864.2013.854444
URI
http://hdl.handle.net/10203/191255
Appears in Collection
ME-Journal Papers(저널논문)
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