University of Twente Student Theses
Novel design of MR-compatible pneumatic soft-surgical endoscope with variable stiffness
Mathur, Nehal (2020) Novel design of MR-compatible pneumatic soft-surgical endoscope with variable stiffness.
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| Abstract: | This study introduces a novel MR-compatible soft-surgical pneumatic endoscope design with variable stiffness for minimally invasive surgeries. The design aims to improve the bending performance of the soft endoscope by shifting the start-up transient out of the operating range, which is at near-straight configuration. Additionally, functionality has been improved by implementing laminar jamming as a variable stiffening mechanism and scalability of modules has been increased. The endoscope design has been based on a study that determines design parameters that influence the performance of the endoscope using Finite Element Method, and the effectiveness of laminar jamming has been estimated analytically. Motion and stiffness characterisation experiments have been performed using the fabricated prototype, testing the bending performance and stiffness in the transverse and axial direction. By modifying the design of the shell-reinforced soft pneumatic actuator, an endoscope with a 12mm diameter has been designed to be at an angle of 120± at rest, thereby shifting the start-up behaviour out of the operating range, which is at near-straight configuration. A singular actuation chamber improves the scalability of the module. Simulation results indicate that the larger cross-sectional area of the actuation chamber, larger number of rings and smaller backbone width improve the bending range of the endoscope. The analytical model indicates that the stiffness of the jamming structure is dependent on the number of layers, however, based on spatial constraints, five laminar sheets were implemented. The experimental results show an improved bending performance of the endoscope compared to previous work with a successful shift of the startup behaviour. The variable stiffening mechanism has been shown to increase the stiffness of the endoscope, however, it limits the bending range. Further research is required to develop the designed endoscope for clinical application. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 53 electrotechnology, 54 computer science |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/89293 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
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