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Stresses under Combined Loadings

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When analyzing a bent tube with a circular cross-section subjected to multiple forces, it is crucial to determine the stress distribution in order to maintain structural integrity under varied load conditions.
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Related Experiment Video

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Finite Element Modeling for the Simulation of the Quasi-Static Compression of Corrugated Tapered Tubes

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Quasistatic Modeling of Concentric Tube Robots with External Loads.

Jesse Lock¹, Genevieve Laing, Mohsen Mahvash

¹Biomedical Engineering, Boston University, Boston, MA 02215 USA ( lockj@bu.edu ).

Proceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems

|February 1, 2011

Summary

Concentric tube robots, a type of continuum robot, offer precise control for minimally invasive procedures. This study presents a new quasistatic model to accurately predict their shape and tip configuration under load.

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Area of Science:

Robotics
Mechanical Engineering
Medical Devices

Background:

Concentric tube robots (CTRs) are a type of continuum robot.
They are constructed from pre-curved elastic tubes that interact elastically upon rotation and translation.
Their inherent flexibility leads to coupled kinematic and static force models, unlike rigid-link robots.

Purpose of the Study:

To derive a multi-tube quasistatic model for CTRs.
To relate tube actuation (rotations and translations) and external loads to the robot's shape and tip configuration.
To provide a tool for CTR design, procedure planning, and control.

Main Methods:

Derivation of a multi-tube quasistatic model.
Mathematical formulation relating tube movements and external forces to robot deformation.
Experimental validation of the derived model against a single-tube approximate model.

Main Results:

A comprehensive quasistatic model for multi-tube concentric robots was successfully derived.
The model accurately predicts robot shape and tip configuration under various loading conditions.
Experimental results validated the accuracy of the derived multi-tube model.

Conclusions:

The developed multi-tube quasistatic model enhances the understanding and predictability of CTR behavior.
This model is valuable for optimizing CTR design, planning complex medical procedures, and implementing advanced control strategies.
The findings pave the way for more sophisticated applications of CTRs in minimally invasive surgery.