An Origami-Based Medical Support System to Mitigate Flexible Shaft Buckling

Author:

Sargent Brandon1,Butler Jared1,Seymour Kendall1,Bailey David2,Jensen Brian1,Magleby Spencer1,Howell Larry1

Affiliation:

1. Department of Mechanical Engineering, Brigham Young University, Provo, UT 84602

2. Intuitive Surgical, Inc., Sunnyvale, CA 94086

Abstract

Abstract This paper presents the development of an origami-inspired support system (the OriGuide) that enables the insertion of flexible instruments using medical robots. Varying parameters of a triangulated cylindrical origami pattern were combined to create an effective highly compressible anti-buckling system that maintains a constant inner diameter for supporting an instrument and a constant outer diameter throughout actuation. The proposed origami pattern is composed of two repeated patterns: a bistable pattern to create support points to mitigate flexible shaft buckling and a monostable pattern to enable axial extension and compression of the support system. The origami-based portion of the device is combined with two rigid mounts for interfacing with the medical robot. The origami-based portion of the device is fabricated from a single sheet of polyethylene terephthalate. The length, outer diameter, and inner diameter that emerge from the fold pattern can be customized to accommodate various robot designs and flexible instrument geometries without increasing the part count. The support system also adds protection to the instrument from external contamination.

Funder

Air Force Office of Scientific Research

National Science Foundation

Publisher

ASME International

Subject

Mechanical Engineering

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