The force transmission of a flexible instrument through an endoscope is considerably deteriorated due to friction between the contacting surfaces. Friction force along the axial direction can be reduced by combining the translational motion input with rotation. A ratio ζ is defined to measure the reduction in the friction force along the axial direction due to the combined motion input at the proximal end of the instrument. An analytical formula is derived that shows the reduction in the friction force for the combined motion input. A flexible multibody model was setup and various simulations were performed with different motion inputs. The simulation result showed a reduction of 80% in the value of ζ in accordance with the analytical result for the given velocity ratio. Several experiments were performed with constant translational motion input combined with constant and sinusoidal rotational motion input. A maximum reduction of 84% is obtained in the value of ζ against a reduction of 89% calculated analytically. The knowledge of force transmission with a combination of motions can be used to increase the force fidelity of a flexible instrument in applications like robotic surgery with a flexible instrument.
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March 2015
Research-Article
Improved Force Transmission of a Flexible Surgical Instrument by Combining Input Motion
Jitendra P. Khatait,
Jitendra P. Khatait
1
Department of Mechanical Engineering,
Indian Institute of Technology Delhi
,New Delhi 110016
, India
;Mechanical Automation and Mechatronics,
Faculty of Engineering Technology,
e-mail: jpkhatait@mech.iitd.ac.in
Faculty of Engineering Technology,
University of Twente
,Enschede 7500 AE
, The Netherlands
e-mail: jpkhatait@mech.iitd.ac.in
1Corresponding author.
Search for other works by this author on:
Dannis M. Brouwer,
Dannis M. Brouwer
Mechanical Automation and Mechatronics,
Faculty of Engineering Technology,
Faculty of Engineering Technology,
University of Twente
,Enschede 7500 AE
, The Netherlands
Search for other works by this author on:
Ronald G. K. M. Aarts,
Ronald G. K. M. Aarts
Mechanical Automation and Mechatronics,
Faculty of Engineering Technology,
Faculty of Engineering Technology,
University of Twente
,Enschede 7500 AE
, The Netherlands
Search for other works by this author on:
Just L. Herder
Just L. Herder
Mechanical Automation and Mechatronics,
Faculty of Engineering Technology,
Faculty of Engineering Technology,
University of Twente
,Enschede 7500 AE
, The Netherlands
Search for other works by this author on:
Jitendra P. Khatait
Department of Mechanical Engineering,
Indian Institute of Technology Delhi
,New Delhi 110016
, India
;Mechanical Automation and Mechatronics,
Faculty of Engineering Technology,
e-mail: jpkhatait@mech.iitd.ac.in
Faculty of Engineering Technology,
University of Twente
,Enschede 7500 AE
, The Netherlands
e-mail: jpkhatait@mech.iitd.ac.in
Dannis M. Brouwer
Mechanical Automation and Mechatronics,
Faculty of Engineering Technology,
Faculty of Engineering Technology,
University of Twente
,Enschede 7500 AE
, The Netherlands
Ronald G. K. M. Aarts
Mechanical Automation and Mechatronics,
Faculty of Engineering Technology,
Faculty of Engineering Technology,
University of Twente
,Enschede 7500 AE
, The Netherlands
Just L. Herder
Mechanical Automation and Mechatronics,
Faculty of Engineering Technology,
Faculty of Engineering Technology,
University of Twente
,Enschede 7500 AE
, The Netherlands
1Corresponding author.
Manuscript received December 6, 2013; final manuscript received December 5, 2014; published online January 12, 2015. Assoc. Editor: Carl Nelson.
J. Med. Devices. Mar 2015, 9(1): 011009 (11 pages)
Published Online: March 1, 2015
Article history
Received:
December 6, 2013
Revision Received:
December 5, 2014
Online:
January 12, 2015
Citation
Khatait, J. P., Brouwer, D. M., Aarts, R. G. K. M., and Herder, J. L. (March 1, 2015). "Improved Force Transmission of a Flexible Surgical Instrument by Combining Input Motion." ASME. J. Med. Devices. March 2015; 9(1): 011009. https://doi.org/10.1115/1.4029418
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