Page 172 - Flexible Robotics in Medicine
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158 Chapter 6

            diameters of 0.6 mm (precurved bending radius of 30 mm) for the inner tube and 1 mm for
            the outer tube (tube length of 60 mm), to better capitalize on the capabilities of the robot.


            6.3.3 Materials of tubes and parts


            Stainless steel was used for the tubes, but nitinol (NiTi) can similarly be used. The outer
            shell of the device was machined out of aluminum, to supply structural rigidity as well as a
            solid-feeling device when held. The inner components were 3D-printed due to the
            lightweight but solid parts produced, as well as the high customizability of the components
            and fast production speed.


            6.3.4 Tube motion driving system


            As shown in Fig. 6.5, the robot with side panels removed has motors and transmission
            structures visible, where the actuation design can be broken down into two groups
            (Fig. 6.6), inner one and the outer one for each tube.




















                                                 Figure 6.5
                                       Robot with side panels removed.















                                                 Figure 6.6
                      Proposed drive system with outer group and inner group of transmissions.
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