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Robotics in Gastrointestinal Endoscopy
 
 
Article

Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

1
Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka 819-0395, Japan
2
Center for Advanced Medical Innovation, Kyushu University, Fukuoka 812-8582, Japan
3
Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka 812-8582, Japan
4
Department of Advanced Medical Initiatives, Graduate School of Medical Science, Kyushu University, Fukuoka 812-8582, Japan
5
Department of Urology, Graduate School of Medical Sciences, Kyushu University, Fukuoka 812-8582, Japan
*
Author to whom correspondence should be addressed.
Academic Editor: Byung-Ju Yi
Appl. Sci. 2022, 12(5), 2480; https://doi.org/10.3390/app12052480
Received: 12 January 2022 / Revised: 22 February 2022 / Accepted: 23 February 2022 / Published: 27 February 2022
(This article belongs to the Special Issue Frontiers in Medical Robotics)
Gastrointestinal cancer, when detected early, is treated by accessing the lesion through the natural orifice using flexible endoscopes. However, the limited degree-of-freedom (DOF) of conventional treatment devices and the narrow surgical view through the endoscope demand advanced techniques. In contrast, multi-DOF forceps systems are an excellent alternative; however, these systems often involve high fabrication costs because they require a large number of micro-parts. To solve this problem, we designed compact multi-DOF endoluminal forceps with a monolithic structure comprising compliant hinges. To allow an efficient stress dispersion at the base end when the hinge bends, we proposed a novel design method to obtain the hinge parameters using the beam of uniform strength theory. This method does not involve a high computational cost. The results show that the improved design with a variable hinge thickness can reduce the maximum bending stress, dispersing the stress in a larger area than that of the previous design considering a constant thickness of the hinge. Moreover, the experiments conducted in a prototype confirm that the radius of the curvature was significantly improved. The proposed method could aid in designing other continuum robots relying on compliant hinges. View Full-Text
Keywords: design methodology; finite element analysis; medical robotics; surgical instruments; soft robotics design methodology; finite element analysis; medical robotics; surgical instruments; soft robotics
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MDPI and ACS Style

Osawa, K.; Bandara, D.S.V.; Nakadate, R.; Nagao, Y.; Akahoshi, T.; Eto, M.; Arata, J. Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps. Appl. Sci. 2022, 12, 2480. https://doi.org/10.3390/app12052480

AMA Style

Osawa K, Bandara DSV, Nakadate R, Nagao Y, Akahoshi T, Eto M, Arata J. Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps. Applied Sciences. 2022; 12(5):2480. https://doi.org/10.3390/app12052480

Chicago/Turabian Style

Osawa, Keisuke, D. S. V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, and Jumpei Arata. 2022. "Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps" Applied Sciences 12, no. 5: 2480. https://doi.org/10.3390/app12052480

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