A new, easily miniaturized steerable endoscope

Breedveld, Paul; Sheltes, J.S.; Blom, Esther Maria; Verheij, Jeroen

doi:10.1109/memb.2005.1549729

Cited by 61 publications

(34 citation statements)

References 11 publications

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“…The change of stiffness comes from the friction between the elements due to the tension in the cables [2]. The tensioning of multiple wires is already used for tip control of medical devices [156] or snake-like robots [2].…”

Section: Structural Interactionsmentioning

confidence: 99%

Flexible Medical Devices: Review of Controllable Stiffness Solutions

2017

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Abstract:In the medical field and in soft robotics, flexible devices are required for safe human interaction, while rigid structures are required to withstand the force application and accuracy in motion. This paper aims at presenting controllable stiffness mechanisms described in the literature for applications with or without shape-locking performances. A classification of the solutions based on their working principle is proposed. The intrinsic properties of these adaptive structures can be modified to change their mechanical characteristics from a geometrical point of view or equivalent elastic properties (with internal mechanisms or with a change in material properties). These solutions are compared quantitatively, based on selected criteria linked to the medical field as the stiffness range, the activation time and the working conditions. Depending on the application and its requirements, the most suitable solution can be selected following the quantitative comparisons. Several applications of these tunable stiffness structures are proposed and illustrated by examples of the literature.

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Section: Structural Interactionsmentioning

confidence: 99%

Flexible Medical Devices: Review of Controllable Stiffness Solutions

2017

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“…The robot's size is also diversified ranging from 2.4mm 82 to 23mm 95 . Due to their lightweight, simplicity, biocompatibility, safety, and flexibility cable systems have been used for various surgical robotic systems such as Da Vinci surgical system 23,40,77 , endoscopes 22,23 , Medrobotics Flex System 98,164,169 , MASTER system 35,154 , and Viacath system 2 . The following contents will analyse the conceptual designs, modelling, control problems, advantages, and disadvantages of cable actuationdriven surgical robots.…”

Section: A Cable Actuatormentioning

confidence: 99%

A survey on actuators-driven surgical robots

Nho

Phee

2016

Sensors and Actuators A: Physical

160

107

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“…Hence, steerable MIS instruments (Figure 1a) (7) have been developed to ameliorate this drawback by providing additional DOF through one or more joints in their flexible tips, thus enabling the surgeon to redirect the approach to the tissue and even manoeuvre around obstacles ( Figure 1c) (2,(7)(8)(9).…”

Section: Minimally Invasive Surgery and Steerable Instrumentsmentioning

confidence: 99%