The distal head of the natural orifice transluminal endoscopic surgery (NOTES) platform commonly uses the structure of a snake bone, which cannot rotate, and the manufacturing is often time-consuming. A novel rotatable, one-element snake bone for NOTES is proposed. This paper first describes the movement mechanism and actuation. The new structure, which is composed of hinge pairs for bending and track-sled rings for rotation, was designed to reach a 90 deg bending angle and 62 deg rotational angle. The workspace of the snake bone was derived using screw theory and was simulated on matlab. The relationship between the angle and wire displacement was analyzed in detail. The new snake bone system bent and rotated by manipulating control wires that were actuated by DC motors, and its angular movements were measured by motion sensors with an angle error within ±2.6 deg. The snake bone was mounted on a flexible tube, inserted into a colonoscopy model, and navigated by motor actuation to eventually reach the cecum. The experimental results demonstrate the new snake bone's ability to travel through a natural orifice by rotating and bending, which satisfies the mobility requirement for NOTES.
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June 2018
Research-Article
Design and Evaluation of a Novel Rotatable One-Element Snake Bone for NOTES
Bin Liu,
Bin Liu
Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-305,
Beijing 100871, China
e-mail: 1601111667@pku.edu.cn
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-305,
Beijing 100871, China
e-mail: 1601111667@pku.edu.cn
Search for other works by this author on:
Aoyu Zhang,
Aoyu Zhang
Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-301,
Beijing 100871, China
e-mail: 1101111324@pku.edu.cn
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-301,
Beijing 100871, China
e-mail: 1101111324@pku.edu.cn
Search for other works by this author on:
John Liu,
John Liu
Department of Mechanical Engineering,
Massachusetts Institute of Technology,
77 Massachusetts Avenue,
Building 3, Room 137,
Cambridge, MA 02139
e-mail: johnhliu@mit.edu
Massachusetts Institute of Technology,
77 Massachusetts Avenue,
Building 3, Room 137,
Cambridge, MA 02139
e-mail: johnhliu@mit.edu
Search for other works by this author on:
Zhimin Han,
Zhimin Han
Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-301,
Beijing 100871, China
e-mail: Jimmyhanzm@126.com
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-301,
Beijing 100871, China
e-mail: Jimmyhanzm@126.com
Search for other works by this author on:
Tianyu Xie
Tianyu Xie
Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-304,
Beijing 100871, China
e-mail: 1001111168@pku.edu.cn
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-304,
Beijing 100871, China
e-mail: 1001111168@pku.edu.cn
Search for other works by this author on:
Bin Liu
Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-305,
Beijing 100871, China
e-mail: 1601111667@pku.edu.cn
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-305,
Beijing 100871, China
e-mail: 1601111667@pku.edu.cn
Aoyu Zhang
Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-301,
Beijing 100871, China
e-mail: 1101111324@pku.edu.cn
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-301,
Beijing 100871, China
e-mail: 1101111324@pku.edu.cn
John Liu
Department of Mechanical Engineering,
Massachusetts Institute of Technology,
77 Massachusetts Avenue,
Building 3, Room 137,
Cambridge, MA 02139
e-mail: johnhliu@mit.edu
Massachusetts Institute of Technology,
77 Massachusetts Avenue,
Building 3, Room 137,
Cambridge, MA 02139
e-mail: johnhliu@mit.edu
Zhimin Han
Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-301,
Beijing 100871, China
e-mail: Jimmyhanzm@126.com
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-301,
Beijing 100871, China
e-mail: Jimmyhanzm@126.com
Tianyu Xie
Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-304,
Beijing 100871, China
e-mail: 1001111168@pku.edu.cn
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-304,
Beijing 100871, China
e-mail: 1001111168@pku.edu.cn
1Corresponding author.
Manuscript received November 18, 2017; final manuscript received January 23, 2018; published online April 18, 2018. Editor: William Durfee.
J. Med. Devices. Jun 2018, 12(2): 021006 (8 pages)
Published Online: April 18, 2018
Article history
Received:
November 18, 2017
Revised:
January 23, 2018
Citation
Liu, B., Zhang, A., Liu, J., Han, Z., and Xie, T. (April 18, 2018). "Design and Evaluation of a Novel Rotatable One-Element Snake Bone for NOTES." ASME. J. Med. Devices. June 2018; 12(2): 021006. https://doi.org/10.1115/1.4039592
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