Design Considerations for a Hyper-Redundant Pulleyless Rolling Joint With Elastic Fixtures


Compliant joints composed of slit tubes or springs are commonly utilised for steerable endoscopes and catheters. As a result of this kind of joint is actuated by suggests that of its elasticity, it's troublesome to bend it with a little radius of curvature. In order to overcome this problem, a hyper-redundant Pulleyless Rolling joint with Elastic Fixtures (PREF joint) is proposed. To enable miniaturization, the PREF joint will not have a pulley, and therefore the rolling contact motion aids the actuation cables to take care of the strain. The elastic fixtures guarantee a stable rolling motion at the center of the rolling surfaces. In this paper, the basic characteristics for the unit and therefore the hyper-redundant PREF joints are presented. Moreover, style issues are proposed for the PREF joint including the rolling tooth form, structure of the elastic fixtures, and cable actuation method. The validity of the look is verified using finite-component analysis and a ten mm diameter prototype composed of twelve units of PREF joints for a one degree-of-freedom motion. So, the fifty five mm long joint will be bent up to ±a hundred and eighty° with low actuation tension. The presented tips will assist in the development of various steerable instruments for medical applications.

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