Full metadata record
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 이병주 | - |
dc.date.accessioned | 2022-08-11T01:32:38Z | - |
dc.date.available | 2022-08-11T01:32:38Z | - |
dc.date.issued | 2021-06 | - |
dc.identifier.citation | SOFT ROBOTICS, v. 9, NO 2, Page. 337-353 | en_US |
dc.identifier.uri | https://www.liebertpub.com/doi/full/10.1089/soro.2020.0145 | - |
dc.identifier.uri | https://repository.hanyang.ac.kr/handle/20.500.11754/172283 | - |
dc.description.abstract | In general wire-driven continuum robot mechanisms, the wires are used to control the motion of the devices attached at the distal end. The slack and taut wire is one of the challenging issues to solve in flexible mechanism. This phenomenon becomes worse when the continuum robot is inserted into the natural orifices of the human body, which inherently have uncertain curvilinear geometries consisting of multiple curvatures. Inspired by the unique characteristic of DNA-helix structure that the length of the helix remains almost constant regardless of the deflection of the DNA structure, this article proposes a new idea to design useful flexible mechanism to resolve slack of wires. Using modern Lie-group screw theory, the analytic model for length of helix wire wrapped around a single flexible backbone is proposed and then extended to a general model with multiple flexible backbones and different curvatures. Taking advantage of this helix type wire mechanism, we designed and implemented a flexible surgical device suitable for laryngopharyngeal surgery. The effectiveness of the proposed flexible mechanism is demonstrated through both simulation and phantom experiment. | en_US |
dc.description.sponsorship | This research was funded by the Technology InnovationProgram (or Industrial Strategic Technology DevelopmentProgram) (grant number 20001856, Development of RoboticWork Control Technology Capable of Grasping and Manip-ulating Various Objects in Everyday Life Environment Basedon Multimodal Recognition and Using Tools) funded by theMinistry of Trade, Industry and Energy (MOTIE, Korea) andperformed by the ICT-based Medical Robotic Systems Teamof Hanyang University; Department of Electronic SystemsEngineering was supported by BK21 FOUR (FosteringOutstanding Universities for Research) funded by NationalResearch Foundation of Korea (NRF). | en_US |
dc.language.iso | en | en_US |
dc.publisher | MARY ANN LIEBERT | en_US |
dc.subject | DNA helix | en_US |
dc.subject | lexible mechanism | en_US |
dc.subject | aryngopharyngeal surgery | en_US |
dc.subject | surgical device | en_US |
dc.title | DNA-Helix Inspired Wire Routing in Cylindrical Structures and Its Application to Flexible Surgical Devices | en_US |
dc.type | Article | en_US |
dc.relation.no | 2 | - |
dc.relation.volume | 9 | - |
dc.identifier.doi | 10.1089/soro.2020.0145 | - |
dc.relation.page | 337-353 | - |
dc.relation.journal | SOFT ROBOTICS | - |
dc.contributor.googleauthor | Ryu, Hwan-Taek | - |
dc.contributor.googleauthor | Oh, Se-MIn | - |
dc.contributor.googleauthor | Tae, Kyung | - |
dc.contributor.googleauthor | Yi, Byung-Ju | - |
dc.relation.code | 2021007329 | - |
dc.sector.campus | E | - |
dc.sector.daehak | COLLEGE OF ENGINEERING SCIENCES[E] | - |
dc.sector.department | SCHOOL OF ELECTRICAL ENGINEERING | - |
dc.identifier.pid | bj | - |
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