Flexible instruments are increasingly used to carry out surgical procedures. The instrument tip is remotely controlled by the surgeon. The flexibility of the instrument and the friction inside the curved endoscope jeopardize the control of the instrument tip. Characterization of the surgical instrument behavior enables the control of the tip motion. A flexible multibody modeling approach was used to study the sliding behavior of the instrument inside a curved endoscope. The surgical instrument was modeled as a series of interconnected planar beam elements. The curved endoscope was modeled as a rigid curved tube. A static friction-based contact model was implemented. The simulations were carried out both for the insertion of the flexible instrument and for fine manipulation. A computer program (SPACAR) was used for the modeling and simulation. The simulation result shows the stick-slip behavior and the motion hysteresis because of the friction. The coefficient of friction has a large influence on the motion hysteresis, whereas the bending rigidity of the instrument has little influence.

References

References
1.
Gomes
,
P.
,
2011
, “
Surgical Robotics: Reviewing the Past, Analysing the Present, Imagining the Future
,”
Rob. Comput.-Integr. Manufact.
,
27
(
2
), pp.
261
266
.10.1016/j.rcim.2010.06.009
2.
Lanfranco
,
A. R.
,
Castellanos
,
A. E.
,
Desai
,
J. P.
, and
Meyers
,
W. C.
,
2004
, “
Robotic Surgery: A Current Perspective
,”
Ann. Surg.
,
239
(
1
), pp.
14
21
.10.1097/01.sla.0000103020.19595.7d
3.
Camarillo
,
D. B.
,
Krummel
,
T. M.
, and
Salisbury
,
J. K.
,
2004
, “
Robotic Technology in Surgery: Past, Present, and Future
,”
Am. J. Surg.
,
188
(
1
), pp.
2
15
.10.1016/j.amjsurg.2004.08.025
4.
Swanström
,
L. L.
,
Khajanchee
,
Y.
, and
Abbas
,
M. A.
,
2008
, “
Natural Orifice Transluminal Endoscopic Surgery: The Future of Gastrointestinal Surgery
,”
Permanente J.
,
12
(
2
), Spring.
5.
Chamberlain
,
R.
, and
Sakpal
,
S.
,
2009
, “
A Comprehensive Review of Single-Incision Laparoscopic Surgery (SILS) and Natural Orifice Transluminal Endoscopic Surgery (NOTES) Techniques for Cholecystectomy
,”
J. Gastrointest. Surg.
,
13
(
9
), Sept., pp.
1733
1740
.10.1007/s11605-009-0902-y
6.
Ten Hoff
,
H.
,
1993
Scanning Mechanisms for Intravascular Ultrasound Imaging: A Flexible Approach
,” Ph.D. thesis,
Erasmus Universiteit, Rotterdam
,
The Netherlands
.
7.
Jansen
,
J. D.
,
1993
, “
Nonlinear Dynamics of Oilwell Drillstrings
,” Ph.D. thesis,
Technische Universiteit, Delft
,
The Netherlands
.
8.
Jonker
,
J. B.
, and
Meijaard
,
J. P.
,
1990
, “
SPACAR—Computer Program for Dynamic Analysis of Flexible Spatial Mechanisms and Manipulators
,”
Multibody Systems Handbook
.
Springer-Verlag
,
Berlin
, pp.
123
143
.
9.
Werff
,
K. v. d.
, and
Jonker
,
J. B.
,
1984
, “
Dynamics of Flexible Mechanisms
,”
Computer Aided Analysis and Optimization of Mechanical System Dynamics
, Vol. 9,
E. J.
Haug
, ed.,
(NATO ASI Series, Series F)
,
Springer-Verlag, Berlin
, pp.
381
400
.
10.
Jonker
,
B.
,
1988
, “
A Finite Element Dynamic Analysis of Flexible Spatial Mechanisms and Manipulators
,” Ph.D. thesis,
Delft University of Technology
,
Delft, The Netherlands
.
11.
Shampine
,
L. F.
, and
Gordon
,
M. K.
,
1975
,
Computer Solution of Ordinary Differential Equations: The Initial Value Problem
,
Freeman
,
San Francisco
.
12.
Meijaard
,
J. P.
,
2003
, “
Application of Runge-Kutta-Rosenbrock Methods to the Analysis of Flexible Multibody Systems
,”
Multibody Syst. Dyn.
,
10
, pp.
263
288
.10.1023/A:1025990403660
13.
Dewey
,
B. R.
,
1988
,
Computer Graphics for Engineers
,
Harper & Row
,
New York
.
14.
Gere
,
J. M.
and
Timoshenko
,
S. P.
,
1999
,
Mechanics of Materials
,
4th SI ed.
,
Stanley Thornes Ltd.
,
United Kingdom
.
15.
DuPont Corporation
,
2011
, KEVLAR® Technical Guide, http://www2.dupont.com
16.
Soemers
,
H. M. J. R.
,
2010
,
Design Principles for Precision Mechanisms
,
T-Point Print, The Netherlands
.
17.
Aarts
,
R. G. K. M.
and
Jonker
,
J. B.
,
2002
, “
Dynamic Simulation of Planar Flexible Link Manipulators Using Adaptive Modal Integration
,”
Multibody Syst. Dyn.
,
7
(
1
), pp.
31
50
.10.1023/A:1015271000518
You do not currently have access to this content.