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