@inproceedings{515d0bd967024988bc49519f6cf43a61,
title = "Design and fabrication of transformable head structures for endoscopic catheters∗",
abstract = "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.",
author = "Kwon, {Seong Il} and Kalker, {Sara Van} and Choi, {Sung Hwa} and Keri Kim and Park, {Kyung Su} and Sungchul Kang and Chunwoo Kim and Ryu, {Seok Chang}",
note = "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: {\textcopyright} 2019 IEEE.; null ; Conference date: 20-05-2019 Through 24-05-2019",
year = "2019",
month = may,
doi = "10.1109/ICRA.2019.8794256",
language = "English",
series = "Proceedings - IEEE International Conference on Robotics and Automation",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "373--378",
booktitle = "2019 International Conference on Robotics and Automation, ICRA 2019",
}