Modeling of a Flexible Instrument to Study its Sliding Behavior Inside a Curved Endoscope
作者： Jitendra P Khatait , Dannis M Brouwer , Ronald GKM Aarts , Just L Herder , None
DOI: 10.1115/1.4007539
关键词: Curved Tube 、 Planar 、 Mechanical engineering 、 Instrumentation 、 Beam (structure) 、 Structural engineering 、 Modeling and simulation 、 Engineering 、 Stiffness 、 Surgical instrument 、 Flexural rigidity
摘要: Flexible instruments are increasingly used to carry out surgical procedures. The instrument tip is remotely controlled by the surgeon. flexibility of and friction inside curved endoscope jeopardize control tip. Characterization behavior enables motion. A flexible multibody modeling approach was study sliding a endoscope. modeled as series interconnected planar beam elements. rigid tube. static friction-based contact model implemented. simulations were carried both for insertion fine manipulation. computer program (SPACAR) simulation. simulation result shows stick-slip motion hysteresis because friction. coefficient has large influence on hysteresis, whereas bending rigidity little influence.
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