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
• 其他作者: School of Mechanical and Aerospace Engineering
• 格式: Article
• 語言: English
• 出版: 2021
• 主題: Engineering::Mechanical engineering::Surgical assistive technology; Contact Force; Friction
• 在線閱讀: https://hdl.handle.net/10356/152725
• 機構: 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...