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Related Concept Videos

Bending01:10

Bending

852
Pure bending is a fundamental concept in structural mechanics, essential for understanding how materials deform under symmetrical loads without direct forces. Pure bending occurs when prismatic members, such as beams, are subjected to equal and opposite moments that induce bending. The phenomenon is crucial as it allows for predicting stress distributions without the influence of axial or shear forces.
In pure bending, the bending stress in a beam is calculated based on the bending moment and...
852
Symmetric Member in Bending01:07

Symmetric Member in Bending

569
In the study of the mechanics of materials, analyzing the behavior of prismatic members under opposing couples is crucial for understanding internal stress distributions, which are essential for structural design. When subjected to couples, a prismatic member experiences internal forces that maintain equilibrium. A couple, characterized by two equal and opposite forces, creates a moment but no resultant force. The internal forces at any section cut of the member must balance these external...
569
Unsymmetric Bending01:18

Unsymmetric Bending

796
Unsymmetrical bending occurs when the bending moment applied to a structural member does not align with its principal axis. This misalignment leads to complex stress distributions and deflection patterns that differ from those in symmetrical bending, and are essential for designing structures to withstand different loading conditions. In unsymmetrical bending, the neutral axis—where stress is zero—does not necessarily align with the geometric axes of the cross-section. The...
796
Bending of Members Made of Several Materials01:11

Bending of Members Made of Several Materials

573
In analyzing a structural member composed of two different materials with identical cross-sectional areas, it is crucial to understand how their distinct elastic properties affect the member's response under load. The analysis involves assessing stress and strain distributions using the transformed section concept, which accounts for variations in material properties.
Hooke's Law determines stress in each material, stating that stress is proportional to strain but varies due to each material's...
573
Residual Stresses in Bending01:18

Residual Stresses in Bending

531
In the study of elastoplastic members subjected to bending moments, understanding the loading and unloading phases is crucial for assessing material behavior and structural integrity. During the loading phase, as the bending moment increases, the material initially responds elastically, adhering to Hooke's Law, where stress is directly proportional to strain. When the load exceeds the yield strength, plastic deformation occurs, resulting in permanent strain and deformation that remains even...
531
Bending Moment Diagram01:30

Bending Moment Diagram

2.5K
A bending moment diagram is a graphical representation of the bending moments experienced by a beam under load along the beam length. It is an essential tool for engineers and designers to analyze structures and ensure they can withstand applied forces. The steps to create the bending moment diagram for a beam are listed below.
Determine reactive forces and couple moments: Calculate all the reactive forces and couple moments acting on the beam. In certain cases, when the beam is inclined at an...
2.5K

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Modular FBG Bending Sensor for Continuum Neurosurgical Robot.

Nahian Rahman1, Nancy Deaton1, Jun Sheng1

  • 1Medical Robotics and Automation (RoboMed) Laboratory in the Wallace H. Coulter Department of Biomedical Engineering, Georgia Institute of Technology, Atlanta, GA 30332, USA. (nahian@gatech.edu; ndeaton3@gatech.edu; junsheng@gatech.edu; jaydev@gatech.edu).

IEEE Robotics and Automation Letters
|July 19, 2019
PubMed
Summary
This summary is machine-generated.

We developed a new sensor system for the MINIR-II neurosurgical robot. This modular system accurately measures robot bending using fiber Bragg gratings, improving precision in minimally invasive procedures.

Keywords:
KinematicsNeurorobotics

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Sensing Technology

Background:

  • Minimally invasive neurosurgery requires precise robotic control.
  • The MINIR-II robot, a tendon-driven continuum robot, offers high maneuverability but lacks accurate shape sensing.
  • Existing shape measurement methods are imprecise due to friction and external disturbances.

Purpose of the Study:

  • To develop and evaluate a modular sensing system for accurate deflection measurement of the MINIR-II intracranial robot.
  • To address the limitations of current shape sensing methods in continuum robots.

Main Methods:

  • A novel bending sensor module was designed, comprising a fiber Bragg grating (FBG) fiber, a Polydimethylsiloxane (PDMS) cylinder, and a superelastic spring.
  • The FBG fiber is enclosed in a PDMS cylinder and integrated with a superelastic spring.
  • Robot segment bending induces axial loading on the superelastic spring, tensioning the FBG and causing a measurable wavelength shift.

Main Results:

  • The sensor module translates robot backbone deflection into axial spring tension.
  • Peak wavelength shift of the FBG fiber directly correlates with the bending angle.
  • Experimental evaluation on the MINIR-II robot demonstrated the feasibility of the proposed sensing concept.

Conclusions:

  • The proposed modular sensing system offers a precise method for measuring the deflection of the MINIR-II robot.
  • This FBG-based sensor module enhances the shape measurement capabilities of continuum robots for neurosurgical applications.
  • The system's design and kinematic aspects were detailed, paving the way for improved robotic surgery.