The Memo<i>Slide</i>: An explorative study into a novel mechanical follow-the-leader mechanism

Henselmans, Paul W. J.; Gottenbos, Stefan; Smit, Gerwin; Breedveld, Paul

doi:10.1177/0954411917740388

Cited by 10 publications

(15 citation statements)

References 29 publications

(38 reference statements)

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“…Besides MemoBox, the literature contains only one other mechanically programmable physical track called MemoSlide ( 40 ). One of the difficulties encountered in MemoSlide was miniaturization.…”

Section: Discussionmentioning

confidence: 99%

MemoBox: A mechanical follow-the-leader system for minimally invasive surgery

Culmone

Jager²,

Breedveld³

2022

Front. Med. Technol.

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With the increase in Natural Orifice Transluminal Endoscopic Surgery procedures, there is an increasing demand for surgical instruments with additional degrees of freedom, able to travel along tortuous pathways and guarantee dexterity and high accuracy without compromising the surrounding environment. The implementation of follow-the-leader motion in surgical instruments allows propagating the decided shape through its body and moving through curved paths avoiding sensitive areas. Due to the limited operational area and therefore the instrument size, the steerable shaft of these instruments is usually driven by cables that are externally actuated. However, a large number of degrees of freedom requires a great number of actuators, increasing the system complexity. Therefore, our goal was to design a new memory system able to impose a follow-the-leader motion to the steerable shaft of a medical instrument without using actuators. We present a memory mechanism to control and guide the cable displacements of a cable-driven shaft able to move along a multi-curved path. The memory mechanism is based on a programmable physical track with a mechanical interlocking system. The memory system, called MemoBox, was manufactured as a proof-of-concept demonstration model, measuring 70 mm × 64 mm × 6 mm with 11 programmable elements and featuring a minimum resolution of 1 mm. The prototype shows the ability to generate and shift complex 2D pathways in real-time controlled by the user.

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Section: Discussionmentioning

confidence: 99%

MemoBox: A mechanical follow-the-leader system for minimally invasive surgery

Culmone

Jager²,

Breedveld³

2022

Front. Med. Technol.

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“…7. Specifically, the position of joints 1, 2 are controlled based on the pose of the links R 2 , R 3 respectively [10]. The final joint 3 is controlled using a tele-operated joystick.…”

Section: An Overview Of Leader-follower Controlmentioning

confidence: 99%

Developing a Leader-Follower Kinematic-Based Control System for a Cable-Driven Hyper-redundant Serial Manipulator

Zaraki

Hayashi

George

et al. 2021

Springer Proceedings in Advanced Robotics

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In this paper, a cable-driven hyper-redundant manipulator using leader-follower control is explored. The proposed system is being developed for the purpose of exploration and inspection of highly confined spaces. Using a tele-operated joystick, an operator will have direct control over the end-effector, which will determine the trajectory and motion of the robotic system through the leader-follower control. To develop a control system for the manipulator, the kinematic relationships between the cables, motors and joints were firstly explored. Based on these relationships the system is modelled mathematically from the user to the robot end-effector. Using the kinematic equations, a control system was developed in MATLAB simulink. A prototype was developed to measure and validate kinematic relationships between the cables and joints of the system. An Error detection and correction mechanism is implemented using proportional control, validating the Kp value using the prototype system. To verify the kinematics and the proposed control system, a simulation was conducted using the MATLAB robotic toolbox. The simulation result demonstrated the promising capability of the proposed leader-follower control system in controlling the robot motion and its trajectory.

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“…Due to their relatively large size, these motors should then be placed outside the patient at the control side of the instrument. However, the use of a large number of motors generally results in high production costs, difficulties in sterilization, and unsuitability for disposable use [24]. Moreover, a system with a large number of motors requires a large footprint, reducing the workspace for the surgeon near the patient.…”

Section: Plos Onementioning

confidence: 99%

Exploring non-assembly 3D printing for novel compliant surgical devices

et al. 2020

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In minimally invasive surgery, maneuverability is usually limited and a large number of degrees of freedom (DOF) is highly demanded. However, increasing the DOF usually means increasing the complexity of the surgical instrument leading to long fabrication and assembly times. In this work, we propose the first fully 3D printed handheld, multi-steerable device. The proposed device is mechanically actuated, and possesses five serially controlled segments. We designed a new compliant segment providing high torsion and axial stiffness as well as a low bending stiffness by merging the functions of four helicoids and a continuum backbone. Compliant segments were combined to form the compliant shaft of the new device. In order to control this compliant shaft, a control handle was designed that mimics the shaft structure. A prototype called the HelicoFlex was built using only three 3D printed parts. HelicoFlex, with its 10 degrees of freedom, showed a fluid motion in performing single and multi-curved paths. The multi-steerable instrument was 3D printed without any support material in the compliant shaft itself. This work contributes to enlarge the body of knowledge regarding how additive manufacturing could be used in the production of multi-steerable surgical instruments for personalized medicine.

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The MemoSlide: An explorative study into a novel mechanical follow-the-leader mechanism

Cited by 10 publications

References 29 publications

MemoBox: A mechanical follow-the-leader system for minimally invasive surgery

MemoBox: A mechanical follow-the-leader system for minimally invasive surgery

Developing a Leader-Follower Kinematic-Based Control System for a Cable-Driven Hyper-redundant Serial Manipulator

Exploring non-assembly 3D printing for novel compliant surgical devices

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