1. A biologically inspired
flexible probe
Dr Ferdinando Rodriguez y Baena
Reader in Medical Robotics
Mechatronics in Medicine Laboratory
Department of Mechanical Engineering
8. RECIPROCAL INSERTION
Reciprocal Insertion
Reduced buckling by having only one segment at a time
move forward – since it is stabilized by the remaining
segments
9. RECIPROCAL INSERTION
Reciprocal Insertion
Some preliminary evidence…
Start End Start End
DIRECT PUSH RECIPROCAL MOTION
Average “area of expansion” Average “area of expansion”
ratio = 2.37 ratio = 1.53
First, we proposes the programmable bevel tip concept. In this concept, the radius of curvature can be controlled by the steering offset between two segments. Please look at this figure. When it wants to turn left, the right segment will go further and if it wants to turn right, the left segment will go further. The programmable bevel tip concepts can be explained using the soft tissue’s resistive force and the unsupported length. Let’s say there are some steering offset, if we push this probe together, there will be resistive force on the bevel tip. This part is thinner than this part, so this force affects the tip much more significant. This will make the probe bend. In order to verify this concept,
These pictures show the some experimental results. When we change the steering offset, as you can see the curvature of the motion varies.