Natures drill bit - Oct 12

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  • 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

    1. 1. A biologically inspired flexible probeDr Ferdinando Rodriguez y BaenaReader in Medical RoboticsMechatronics in Medicine LaboratoryDepartment of Mechanical Engineering
    2. 2. THE CONCEPT Biologically Inspired Probe Insertion Eggs pass through here Reciprocating Mechanism Electron microscope view Wasp inserting the ovipositor into the wood Wood Mechanism of Motion 2 © Imperial College London
    3. 3. THE CONCEPT Biologically Inspired Robotics v1 1. Programmable bevel (variable steering) δt θ 2. Reciprocal insertion Pf (reduced buckling) y x δ 3 © Imperial College London
    4. 4. THE CONCEPT Design Evolution: Cross-section The natural inspiration: The prototype: 4 interlocking segments and a segments and two hollow egg channel hollow channels © Imperial College London
    5. 5. THE CONCEPT Design Evolution: Prototyping Rapid Prototype 12mm OD prototypes in soft and hard materials Vero white (rigid material) Tango Black (soft material) 5 © Imperial College London
    6. 6. PROGRAMMABLE BEVEL Programmable Bevel Tip Concept • Radius of curvature can be controlled by the offset between segments, i.e. Bevel steering offset tip Brain Resistive Force Steering Offset 6 © Imperial College London
    7. 7. PROGRAMMABLE BEVEL Curvature vs. Steering Offset 7 © Imperial College London
    8. 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. 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
    10. 10. THE CONCEPT Key Features • Can travel through media and steer through complicated routes • Design reduces buckling • Can deliver or remove cargo • Can be scaled up or down 10 © Imperial College London
    11. 11. THE CONCEPT We need your help - Where would a probe like this be useful? - Where would you need to traverse a complicated route in compliant material? We’d love to hear your thoughts on how to make some ideas possible, and ways this technology could be taken into new directions. 11 © Imperial College London
    12. 12. PEOPLE & SPONSORS Acknowledgements PhD students Stuart Bowyer Jassim Alqabandi Josh Petersen Elnaz Nobari Sandra Nwokeoha Chris Burrows Will Blyth Trevor Hawke Alexander Leibinger Research Assistants Dr Ryo Takeda Dr Fangde Liu Dr Riccardo Secoli Dr Matthew Oldfield 12 © Imperial College London
    13. 13. PEOPLE & SPONSORS Competition Sponsored by Imperial Innovations Imperial Innovations builds and invests in technology and healthcare companies. Their goal is to bring valuable ideas to market either by building businesses or licensing to industry. 13 © Imperial College London

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