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Design Innovation Paper

Design of a Contact-Aided Compliant Notched-Tube Joint for Surgical Manipulation in Confined Workspaces

[+] Author and Article Information
Kyle W. Eastwood

Center for Image Guided Innovation and Therapeutic Intervention (CIGITI), The Hospital for Sick Children, 555 University Avenue, Toronto, Ontario, Canada, M5G 1X8
kyle.eastwood@mail.utoronto.ca

Peter Francis

Center for Image Guided Innovation and Therapeutic Intervention (CIGITI), The Hospital for Sick Children, 555 University Avenue, Toronto, Ontario, Canada, M5G 1X8
p.francis@mail.utoronto.ca

Hamidreza Azimian

Senior Robotics Researcher at Epson Epson Canada Ltd, 185 Renfrew Drive Markham, Ontario, Canada, L3R 6G3
hamidreza.azimian@ea.epson.com

Arushri Swarup

Center for Image Guided Innovation and Therapeutic Intervention (CIGITI), The Hospital for Sick Children, 555 University Avenue, Toronto, Ontario, Canada, M5G 1X8
arushri.swarup@mail.utoronto.ca

Thomas Looi

Center for Image Guided Innovation and Therapeutic Intervention (CIGITI), The Hospital for Sick Children, 555 University Avenue, Toronto, Ontario, Canada, M5G 1X8
thomas.looi@sickids.ca

James M. Drake

Division of Neurosurgery, Center for Image Guided Innovation and Therapeutic Intervention (CIGITI), The Hospital for Sick Children, 555 University Avenue, Toronto, Ontario, Canada, M5G 1X8
james.drake@sickkids.ca

Hani E. Naguib

Smart and Adaptive Polymers Laboratory (SAPL), Department of Mechanical and Industrial Engineering, University of Toronto, 5 King’s College Road, Toronto, Ontario, Canada, M5S 3G8
naguib@mie.utoronto.ca

1Corresponding author.

ASME doi:10.1115/1.4038254 History: Received May 18, 2017; Revised September 27, 2017

Abstract

This work presents a novel miniature contact-aided compliant joint mechanism that can be integrated into millimeter-sized manual or robotic surgical instruments. The design aims to address the trade-off between notched-tube compliant joints’ range-of-motion and stiffness, while also ensuring a compact form-factor. The mechanism is constructed from a nitinol tube with asymmetric cutouts and is actuated in bending by a cable. The innovative feature of this design is the incorporation of a contact-aid into the notched-tube topology which acts to both increase the stiffness of the joint and change the shape that it undertakes during bending. Using finite element modelling (FEM) techniques, we present a sensitivity analysis investigating how the performance of this contact-aided compliant mechanism (CCM) is affected by its geometry, and derive a kinematics and statics model for the joint. The FEM simulations and the kinematic and static models are compared to experimental results. The design and modelling presented in this study can be used to develop new miniature dexterous instruments, with a particular emphasis on applications in minimally invasive neurosurgery.

Copyright (c) 2017 by ASME
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