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Volume 12
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Article

Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

by
Keisuke Osawa
1,*,
D. S. V. Bandara
1,
Ryu Nakadate
2,
Yoshihiro Nagao
3,
Tomohiko Akahoshi
4,
Masatoshi Eto
5 and
Jumpei Arata
1
1
Department of Mechanical Engineering, Faculty of Engineering, Kyushu University, Fukuoka 819-0395, Japan
2
Center for Advanced Medical Innovation, Kyushu University, Fukuoka 812-8582, Japan
3
Department of Advanced Medicine and Innovative Technology, Kyushu University Hospital, Fukuoka 812-8582, Japan
4
Department of Advanced Medical Initiatives, Graduate School of Medical Science, Kyushu University, Fukuoka 812-8582, Japan
5
Department of Urology, Graduate School of Medical Sciences, Kyushu University, Fukuoka 812-8582, Japan
*
Author to whom correspondence should be addressed.
Appl. Sci. 2022, 12(5), 2480; https://doi.org/10.3390/app12052480
Submission received: 12 January 2022 / Revised: 22 February 2022 / Accepted: 23 February 2022 / Published: 27 February 2022
(This article belongs to the Special Issue Frontiers in Medical Robotics)
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Abstract

Gastrointestinal cancer, when detected early, is treated by accessing the lesion through the natural orifice using flexible endoscopes. However, the limited degree-of-freedom (DOF) of conventional treatment devices and the narrow surgical view through the endoscope demand advanced techniques. In contrast, multi-DOF forceps systems are an excellent alternative; however, these systems often involve high fabrication costs because they require a large number of micro-parts. To solve this problem, we designed compact multi-DOF endoluminal forceps with a monolithic structure comprising compliant hinges. To allow an efficient stress dispersion at the base end when the hinge bends, we proposed a novel design method to obtain the hinge parameters using the beam of uniform strength theory. This method does not involve a high computational cost. The results show that the improved design with a variable hinge thickness can reduce the maximum bending stress, dispersing the stress in a larger area than that of the previous design considering a constant thickness of the hinge. Moreover, the experiments conducted in a prototype confirm that the radius of the curvature was significantly improved. The proposed method could aid in designing other continuum robots relying on compliant hinges.
Keywords: design methodology; finite element analysis; medical robotics; surgical instruments; soft robotics design methodology; finite element analysis; medical robotics; surgical instruments; soft robotics

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MDPI and ACS Style

Osawa, K.; Bandara, D.S.V.; Nakadate, R.; Nagao, Y.; Akahoshi, T.; Eto, M.; Arata, J. Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps. Appl. Sci. 2022, 12, 2480. https://doi.org/10.3390/app12052480

AMA Style

Osawa K, Bandara DSV, Nakadate R, Nagao Y, Akahoshi T, Eto M, Arata J. Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps. Applied Sciences. 2022; 12(5):2480. https://doi.org/10.3390/app12052480

Chicago/Turabian Style

Osawa, Keisuke, D. S. V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, and Jumpei Arata. 2022. "Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps" Applied Sciences 12, no. 5: 2480. https://doi.org/10.3390/app12052480

APA Style

Osawa, K., Bandara, D. S. V., Nakadate, R., Nagao, Y., Akahoshi, T., Eto, M., & Arata, J. (2022). Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps. Applied Sciences, 12(5), 2480. https://doi.org/10.3390/app12052480

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