A frictional contact-pattern-based model for inserting a flexible shaft into curved channels

• Main Authors: Liu Jiajun, Cao Lin, Miyasaka, Muneaki, Phee, Soo Jay
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2021
• Subjects: Engineering::Mechanical engineering::Surgical assistive technology; Contact Force; Friction
• Online Access: https://hdl.handle.net/10356/152725
• Institution: Nanyang Technological University

Flexible endoscopy and catheterization typically involve inserting a flexible shaft into a curved channel. Understanding the mechanics involved in the insertion process is crucial for the structural design, actuation, sensing, control, and navigation of these flexible medical tools. However, the...