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Related Concept Videos

Temperature Dependent Deformation01:12

Temperature Dependent Deformation

325
In a nonhomogeneous rod made up of steel and brass, restrained at both ends and subjected to a temperature change, several steps are involved in calculating the stress and compressive load. Due to the problem's static indeterminacy, one end support is disconnected, allowing the rod to experience the temperature change freely. Next, an unknown force is applied at the free end, triggering deformations in the rod's steel and brass portions. These deformations are then calculated and added...
325

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Related Experiment Video

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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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A Temperature-Dependent, Variable-Stiffness Endoscopic Robotic Manipulator with Active Heating and Cooling.

Huu Minh Le1, Phuoc Thien Phan1, Cao Lin2

  • 1Robotics Research Center, School of Mechanical and Aerospace Engineering, Nanyang Technological University, Singapore, Singapore.

Annals of Biomedical Engineering
|April 2, 2020
PubMed
Summary
This summary is machine-generated.

This study introduces a novel variable-stiffness endoscope manipulator. It offers a high stiffness-changing ratio and rapid mode switching for improved endoscopic procedures.

Keywords:
Minimally Invasive Surgery (MIS)NOTESSurgical robotsVariable-stiffness endoscopesVariable-stiffness materials

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Area of Science:

  • Robotics
  • Biomedical Engineering
  • Materials Science

Background:

  • Flexible endoscopes require both flexibility for navigation and stiffness for operational stability.
  • Current endoscopes lack adjustable stiffness, limiting their performance in complex anatomical pathways.

Purpose of the Study:

  • To develop and evaluate a novel variable-stiffness manipulator for endoscopic applications.
  • To achieve on-demand stiffness tunability for enhanced endoscope functionality.

Main Methods:

  • A manipulator with embedded thermoplastic tubes was designed, with stiffness controlled by temperature.
  • Temperature modulation was achieved via joule heating from electrical coils and an active air-cooling system.
  • Performance was characterized through testing and mathematical modeling, including thermal insulation using Aerogel.

Main Results:

  • The manipulator demonstrated a high stiffness-changing ratio of 22, significantly exceeding the commercial Olympus counterpart (1.59).
  • Active cooling time was reduced to 11.9 seconds compared to 100.3 seconds for passive cooling.
  • The Aerogel insulation maintained the outer surface temperature below a safe threshold of 41°C.
  • Developed models accurately described heating and cooling processes with low root mean square errors (0.6–1.3°C).

Conclusions:

  • The developed variable-stiffness endoscopic manipulator is feasible, offering a high stiffness-changing ratio.
  • The design enables fast mode-switching between rigid and flexible states.
  • Effective thermal management ensures safe operation during endoscopic procedures.