Design and Analysis of a Bidirectional Notch Joint for a Robotic Pediatric Neuroendoscope

Conference paper
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 11)


In this paper, we propose the design of a novel joint particularly for a tendon-driven continuum robot, which is feasible for use in the tip of a robotic neuroendoscope. We detail the functionality of this joint, and by varying geometric parameters of the joint, we analyze its bending capabilities in a simulated environment. Analysis, simulation and experiment show that the joint achieves higher bending flexibility in comparison to other types of joints used in this application, while retaining its stiffness towards external forces. A prototype of the joint has been developed using a superelastic material by milling, in order to validate the claims. The results we obtained are satisfactory and match with the proposed analysis and simulation.



This work is based on the steerable guidewire technology, which was supported in part by the Georgia Research Alliance.


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Copyright information

© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Medical Robotics and Automation (RoboMed) Laboratory, Wallace H. Coulter Department of Biomedical EngineeringGeorgia Institute of TechnologyAtlantaUSA
  2. 2.Department of Mechanical EngineeringUniversity of AlabamaTuscaloosaUSA
  3. 3.George W. Woodruff School of Mechanical EngineeringGeorgia Institute of TechnologyAtlantaUSA
  4. 4.Children’s Hospital of AtlantaAtlantaUSA

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