An Origami-Based Medical Support System to Mitigate Flexible Shaft Buckling
An Origami-Based Medical Support System to Mitigate Flexible Shaft Buckling
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DOI：
10.1115/1.4045846
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发表时间：
2020-08-01
影响因子：
2.6
通讯作者：
Howell, Larry
中科院分区：
文献类型：
--
作者：
Sargent, Brandon;Butler, Jared;Howell, Larry
本文介绍了一个折纸启发的支持系统（OriGuide），使使用医疗机器人插入灵活的仪器的发展。组合三角形圆柱形折纸图案的变化参数以产生有效的高度可压缩的抗屈曲系统，该抗屈曲系统在整个致动过程中保持用于支撑器械的恒定内径和恒定外径。所提出的折纸图案由两个重复的图案组成：用于创建支撑点以减轻柔性轴屈曲的单稳态图案和用于使支撑系统能够轴向延伸和压缩的单稳态图案。该设备的折纸部分与两个刚性支架相结合，用于与医疗机器人对接。该装置的折纸部分由单片聚对苯二甲酸乙二醇酯制成。从折叠模式中出现的长度、外径和内径可以定制，以适应各种机器人设计和灵活的仪器几何形状，而不会增加零件数量。支撑系统还增加了对仪器的保护，使其免受外部污染。
This paper presents the development of an origami-inspired support system (the OriGuide) that enables the insertion of flexible instruments using medical robots. Varying parameters of a triangulated cylindrical origami pattern were combined to create an effective highly compressible anti-buckling system that maintains a constant inner diameter for supporting an instrument and a constant outer diameter throughout actuation. The proposed origami pattern is composed of two repeated patterns: a bistable pattern to create support points to mitigate flexible shaft buckling and a monostable pattern to enable axial extension and compression of the support system. The origami-based portion of the device is combined with two rigid mounts for interfacing with the medical robot. The origami-based portion of the device is fabricated from a single sheet of polyethylene terephthalate. The length, outer diameter, and inner diameter that emerge from the fold pattern can be customized to accommodate various robot designs and flexible instrument geometries without increasing the part count. The support system also adds protection to the instrument from external contamination.