TY - GEN
T1 - Design and fabrication of transformable head structures for endoscopic catheters∗
AU - Kwon, Seong Il
AU - Kalker, Sara Van
AU - Choi, Sung Hwa
AU - Kim, Keri
AU - Park, Kyung Su
AU - Kang, Sungchul
AU - Kim, Chunwoo
AU - Ryu, Seok Chang
N1 - Funding Information:
This work was supported by the Global Collaborative R&D Program (Project No. N0000890) through Ministry of Trade, Industry and Energy (MOTIE) and Korean Institute for Advancement of Technology (KIAT)
Publisher Copyright:
© 2019 IEEE.
PY - 2019/5
Y1 - 2019/5
N2 - We present a transformable catheter head structure for endoscopic catheter allowing the simultaneous use of a camera module and a large tool channel introduced through a small incision. At the site of interest, the head with a camera can be expanded from the initial straight configuration, which opens a window for advancing a tool that is located behind the camera. Two different designs were proposed and prototyped. One option has flexure joints directly fabricated at the distal end of a polymer catheter by laser micro-machining, while another design employs a hinged metal head assembled at the tip of the same type of catheter. The kinematic behavior of each head was evaluated during the head-up and tip steering motions, and compared with each other to draw a selection guideline between them. Experimental results prove the feasibility of the proposed head structure for smarter endoscopic catheters.
AB - We present a transformable catheter head structure for endoscopic catheter allowing the simultaneous use of a camera module and a large tool channel introduced through a small incision. At the site of interest, the head with a camera can be expanded from the initial straight configuration, which opens a window for advancing a tool that is located behind the camera. Two different designs were proposed and prototyped. One option has flexure joints directly fabricated at the distal end of a polymer catheter by laser micro-machining, while another design employs a hinged metal head assembled at the tip of the same type of catheter. The kinematic behavior of each head was evaluated during the head-up and tip steering motions, and compared with each other to draw a selection guideline between them. Experimental results prove the feasibility of the proposed head structure for smarter endoscopic catheters.
UR - http://www.scopus.com/inward/record.url?scp=85071514881&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2019.8794256
DO - 10.1109/ICRA.2019.8794256
M3 - Conference contribution
AN - SCOPUS:85071514881
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 373
EP - 378
BT - 2019 International Conference on Robotics and Automation, ICRA 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 International Conference on Robotics and Automation, ICRA 2019
Y2 - 20 May 2019 through 24 May 2019
ER -