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Related Concept Videos

Plastic Deformation in Circular Shafts01:20

Plastic Deformation in Circular Shafts

405
When materials are subjected to forces that surpass their yield strength, they undergo a process known as plastic deformation. This results in a permanent alteration or strain in their structure. This concept can be specifically applied to circular shafts, where the deformation leads to a change in its shape. The precise evaluation of this plastic deformation requires understanding the stress distribution within the circular shaft, which is achieved by calculating the maximum shearing stress in...
405
Deformation in a Circular Shaft01:10

Deformation in a Circular Shaft

789
One of the distinctive characteristics of circular shafts is their ability to maintain their cross-sectional integrity under torsion. In other words, each cross-section continues to exist as a flat, unaltered entity, simply rotating like a solid, rigid slab. To understand the distribution of shearing stress within such a shaft, consider a cylindrical section inside this circular shaft. This section has a length of L and a radius of R, with one end fixed. The radius of the cylindrical section is...
789
Thin-Walled Hollow Shafts01:15

Thin-Walled Hollow Shafts

491
In analyzing a thin-walled hollow shaft subjected to torsional loading, a segment with width dx is isolated for examination. Despite its equilibrium state, this segment faces torsional shearing forces at its ends. These forces are quantitatively described by the product of the longitudinal shearing stress on the segment's minor surface and the area of this surface, leading to the concept of shear flow. This shear flow is consistent throughout the structure, indicating a uniform distribution of...
491
Circular Shafts - Elastoplastic Materials01:24

Circular Shafts - Elastoplastic Materials

392
The study of solid circular shafts under stress shows that within the elastic limit, stress increases directly to the distance from the shaft's center. This relationship holds until the shaft reaches a critical point of stress, beyond which it begins to yield, marking the transition from elastic to plastic deformation. At this crucial juncture, the maximum torque the shaft can endure without permanent deformation is determined, signifying the limit of its elastic behavior.
As torque on the...
392
Design of Transmission Shafts01:16

Design of Transmission Shafts

684
The design of a transmission shaft is governed by two primary specifications: the power it transmits and its rotational speed. These parameters guide the selection of the shaft's material and cross-sectional dimensions, ensuring that the material's maximum shearing stress remains within the elastic limit while transmitting the desired power at the given speed. The system's power is intrinsically linked to the applied torque. The torque applied to the shaft can be calculated by reconfiguring the...
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Eccentric Loading01:16

Eccentric Loading

837
Eccentric loading is a crucial concept in the study of structural engineering and mechanics, particularly when analyzing the stability and stress distribution in columns. Unlike centric loading, where the force is applied along the centroidal axis, causing uniform compression, eccentric loading occurs when a force is applied off-center. This off-center application introduces not only direct compressive stress but also bending stress, significantly influencing the column's behavior under...
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Steering a Multi-armed Robotic Sheath Using Eccentric Precurved Tubes.

Jiaole Wang1, Ha Junhyoung1, Pierre E Dupont1

  • 1Department of Cardiovascular Surgery, Boston Children's Hospital, Harvard Medical School, Boston, MA 02115, USA.

IEEE Robotics & Automation Magazine
|December 17, 2019
PubMed
Summary
This summary is machine-generated.

This study introduces a new continuum robot sheath for minimally invasive surgery. Its novel design uses precurved tubes for articulation, enabling precise robotic arm delivery in procedures like neuroendoscopy.

Keywords:
Concentric tube robotsMultiple armsSteerable sheath

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Area of Science:

  • Medical Robotics
  • Minimally Invasive Surgery
  • Robotics Engineering

Background:

  • Single-port minimally invasive procedures require advanced tools for precise instrument delivery.
  • Existing robotic systems face challenges in dexterity and maneuverability within confined anatomical spaces.
  • Neuroendoscopy demands highly articulated and controllable delivery sheaths for complex interventions.

Purpose of the Study:

  • To present a novel continuum robot sheath for single-port minimally invasive procedures.
  • To enable the delivery of multiple robotic arms through an articulated sheath.
  • To investigate the kinematics and workspace of this new robotic sheath design.

Main Methods:

  • Development of a continuum robot sheath utilizing precurved superelastic tubes for articulation.
  • Modeling the sheath's kinematics using Cosserat rod theory, treating it as eccentrically aligned precurved tubes on an elastic backbone.
  • Detailed analysis of a two-arm sheath configuration and its relation to concentric tube balanced pairs.
  • Experimental validation and simulation to map the workspace and evaluate the kinematic model.

Main Results:

  • Demonstration of a novel continuum robot sheath capable of shape change via rotation and translation.
  • Validation of a derived kinematic model using Cosserat rod theory through simulation and experimentation.
  • Characterization of the workspace for a two-arm sheath configuration.
  • Successful application concept for neuroendoscopy and similar procedures.

Conclusions:

  • The developed continuum robot sheath offers a promising solution for enhanced maneuverability in single-port minimally invasive surgery.
  • The kinematic model accurately predicts the sheath's behavior, facilitating design and control.
  • This technology has significant potential for advancing robotic interventions in neurosurgery and beyond.