Page 9 - Flexible Robotics in Medicine

Contents ix

12.3 Prototype fabrication........................................................................................ 276
12.4 Prototype analysis and characteristic study ...................................................... 279
12.5 Discussion........................................................................................................ 286
12.6 Conclusion....................................................................................................... 287
Acknowledgment ....................................................................................................... 287
References ................................................................................................................. 287

Chapter 13: Design evolution of a flexible robotic bending end-effector for
transluminal explorations ...............................................................289
U-Jin Joshua Cheah, Pin Rong Tan, Zhongren Thaddaeus Ong, Angelique Huan,
Muhammad Amzar Bin Mohd Faisal, Zion Tsz Ho Tse, Chwee Ming Lim
and Hongliang Ren

13.1 Introduction ..................................................................................................... 289
13.2 Prior art and design criteria.............................................................................. 291
13.3 Prototype overall assembly and architecture .................................................... 293
13.4 Design components and rationale..................................................................... 297
13.5 Motion specifications and transmission instrumentation................................... 303
13.6 Design verification........................................................................................... 308
13.7 Design review, specification, and benchmarking.............................................. 316
13.8 Conclusion....................................................................................................... 324
References ................................................................................................................. 325
Further reading........................................................................................................... 325

Chapter 14: Force sensing in compact concentric tube mechanism with optical
fibers ............................................................................................327
Niam Jen Yang, Tianliang Li, Xiao Xiao, Zion Tsz Ho Tse, Chwee Ming Lim
and Hongliang Ren
14.1 Introduction ..................................................................................................... 327
14.2 Literature review.............................................................................................. 328
14.3 Concentric tube robot design ........................................................................... 331
14.4 Kinematic model.............................................................................................. 333
14.5 Control system................................................................................................. 336
14.6 Force sensing tip.............................................................................................. 339
14.7 Experiment ...................................................................................................... 342
14.8 Conclusion and future work............................................................................. 345
Acknowledgment ....................................................................................................... 346
References ................................................................................................................. 346