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

• المؤلفون الرئيسيون: Liu Jiajun, Cao Lin, Miyasaka, Muneaki, Phee, Soo Jay
• مؤلفون آخرون: School of Mechanical and Aerospace Engineering
• التنسيق: مقال
• اللغة: English
• منشور في: 2021
• الموضوعات: Engineering::Mechanical engineering::Surgical assistive technology; Contact Force; Friction
• الوصول للمادة أونلاين: https://hdl.handle.net/10356/152725
• المؤسسة: 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...