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, ON M5G 1X8, Canada
e-mail: 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, ON M5G 1X8, Canada
e-mail: p.francis@mail.utoronto.ca

Hamidreza Azimian

Senior Robotics Researcher,
Epson Canada Ltd.,
185 Renfrew Drive,
Markham, ON L3R 6G3, Canada
e-mail: 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, ON M5G 1X8, Canada
e-mail: 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, ON M5G 1X8, Canada
e-mail: 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, ON M5G 1X8, Canada
e-mail: 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, ON M5S 3G8, Canada
e-mail: naguib@mie.utoronto.ca

1Corresponding author.

Manuscript received May 18, 2017; final manuscript received September 27, 2017; published online December 20, 2017. Assoc. Editor: Robert J. Wood.

J. Mechanisms Robotics 10(1), 015001 (Dec 20, 2017) (12 pages) Paper No: JMR-17-1155; doi: 10.1115/1.4038254 History: Received May 18, 2017; Revised September 27, 2017

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 modeling (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 modeling presented in this study can be used to develop new miniature dexterous instruments, with a particular emphasis on applications in minimally invasive neurosurgery.

Copyright © 2018 by ASME
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Fig. 1

Notched-tube topologies previously reported for medical devices [116] (a). Example of notch topology incorporated into surgical forceps with notation used to define joint geometry (b).

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Fig. 2

Notched-tube segment with externally applied loads (a). Cross section of tube notch (b).

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Fig. 3

Panel depicting how additional design features are added to a rectangular notch to improve performance. Variables used to define the geometry are noted.

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Fig. 4

Illustrative example demonstrating the behavior of a theoretical contact-aided notched-tube compliant joint compared to a rectangular notched tube that does not have the contact aid added

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Fig. 5

Outline of FEM constraints and boundary conditions applied to simulate the notch prototype

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Fig. 6

Finite element model of modified joint showing the effect of mechanical interference on blocking force

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Fig. 7

Sensitivity of stiffness, max-strain, max actuation cable tension, and joint bending compactness to contact-aided joint geometry hi

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Fig. 8

Schematic of joint indicating notation used in kinematics model. For kinematics a “simplified” bending shape is assumed where bending occurs only at contact-aided region.

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Fig. 9

Notation for the cross-sectional geometry of a notched-tube compliant joint (a). The dark section in (a) is the compliant joint region of the joint shown in (b).

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Fig. 10

Ellipse segment shape fit

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Fig. 11

Comparison of fabricated rectangular notch joint and joint with contact aid (a). Schematic of laser cutting orientation used to construct test specimen (b).

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Fig. 12

Experimental setup for measuring blocking force and joint range of motion

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Fig. 13

Finite element and physical specimen of contact-aided joint

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Fig. 14

Blocking force of rectangular joint and contact-aided joint for ANSYS simulations and physical experiments

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Fig. 15

Comparison of kinematics model and ANSYS simulation of contact-aided notch joint with experimental results

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Fig. 16

Bending angle versus cable tension for notched-tube prototypes



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