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Related Concept Videos

Deformation in a Circular Shaft01:10

Deformation in a Circular Shaft

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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...
425
Torque Free Motion01:15

Torque Free Motion

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The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
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Plastic Deformation in Circular Shafts01:20

Plastic Deformation in Circular Shafts

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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...
228
Angle of Twist: Problem Solving01:13

Angle of Twist: Problem Solving

381
An electric motor applies a torque of 700 N·m to an aluminum shaft, triggering a stable rotation. Two pulleys, B and C, are subjected to torques of 300 N·m and 400 N·m, respectively. The modulus of rigidity is provided as 25 GPa. With the knowledge of the length and diameter of each segment, the twist angle between the two pulleys can be computed. First, a section cut is made between pulleys B and C, and the cut cross-section is analyzed using a free-body diagram. Given that the...
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Eccentric Tube Robots as Multiarmed Steerable Sheaths.

Jiaole Wang1, Joseph Peine2, Pierre E Dupont2

  • 1School of Mechanical Engineering and Automation, Harbin Institute of Technology, Shenzhen 518055, China.

IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society
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PubMed
Summary
This summary is machine-generated.

This study introduces a new continuum robot sheath for minimally invasive procedures, enabling precise robotic arm delivery through shape-changing capabilities. The novel design utilizes precurved superelastic tubes for controlled actuation and enhanced maneuverability in confined spaces.

Keywords:
Concentric tube robotsMultiple armsSteerable sheath

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Area of Science:

  • Robotics
  • Medical Devices
  • Minimally Invasive Surgery

Background:

  • Single-port minimally invasive procedures require advanced tools for delivering multiple instruments.
  • Existing robotic sheaths have limitations in maneuverability and instrument delivery within confined anatomical spaces.
  • Continuum robots offer potential for enhanced dexterity in neuroendoscopy and other delicate surgeries.

Purpose of the Study:

  • To present a novel continuum robot sheath designed for single-port minimally invasive procedures.
  • To enable the delivery of multiple robotic arms through a single port using a shape-changing sheath.
  • To develop and validate a kinematic model for the proposed robotic sheath system.

Main Methods:

  • Design of a continuum robot sheath utilizing precurved superelastic tubes for actuation.
  • Development of a kinematic model based on Cosserat rod theory, treating the sheath as eccentrically aligned tubes with an elastic backbone.
  • Experimental validation and simulation of a two-arm sheath system.

Main Results:

  • Demonstration of a novel sheath actuation mechanism using rotational input of precurved tubes.
  • Validation of the derived kinematic model through simulations and experimental testing.
  • Successful delivery of multiple robotic arms via the developed continuum robot sheath.

Conclusions:

  • The novel continuum robot sheath offers a promising solution for advanced single-port minimally invasive surgeries.
  • The developed kinematic model accurately predicts the sheath's behavior, facilitating precise control.
  • This technology has the potential to improve outcomes in neuroendoscopy and similar procedures.