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contributor authorSargent, Brandon
contributor authorButler, Jared
contributor authorSeymour, Kendall
contributor authorBailey, David
contributor authorJensen, Brian
contributor authorMagleby, Spencer
contributor authorHowell, Larry
date accessioned2022-02-04T14:38:50Z
date available2022-02-04T14:38:50Z
date copyright2020/03/06/
date issued2020
identifier issn1942-4302
identifier otherjmr_12_4_041005.pdf
identifier urihttp://yetl.yabesh.ir/yetl1/handle/yetl/4274093
description abstractThis paper presents the development of an origami-inspired support system (the OriGuide) that enables the insertion of flexible instruments using medical robots. Varying parameters of a triangulated cylindrical origami pattern were combined to create an effective highly compressible anti-buckling system that maintains a constant inner diameter for supporting an instrument and a constant outer diameter throughout actuation. The proposed origami pattern is composed of two repeated patterns: a bistable pattern to create support points to mitigate flexible shaft buckling and a monostable pattern to enable axial extension and compression of the support system. The origami-based portion of the device is combined with two rigid mounts for interfacing with the medical robot. The origami-based portion of the device is fabricated from a single sheet of polyethylene terephthalate. The length, outer diameter, and inner diameter that emerge from the fold pattern can be customized to accommodate various robot designs and flexible instrument geometries without increasing the part count. The support system also adds protection to the instrument from external contamination.
publisherThe American Society of Mechanical Engineers (ASME)
titleAn Origami-Based Medical Support System to Mitigate Flexible Shaft Buckling
typeJournal Paper
journal volume12
journal issue4
journal titleJournal of Mechanisms and Robotics
identifier doi10.1115/1.4045846
page41005
treeJournal of Mechanisms and Robotics:;2020:;volume( 012 ):;issue: 004
contenttypeFulltext


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