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.
Natures drill bit - Oct 12
A biologically inspired flexible probeDr Ferdinando Rodriguez y BaenaReader in Medical RoboticsMechatronics in Medicine LaboratoryDepartment of Mechanical Engineering
RECIPROCAL INSERTION Reciprocal Insertion Reduced buckling by having only one segment at a time move forward – since it is stabilized by the remaining segments
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