Print Email Facebook Twitter Follow-the-leader motion simulation of a continuum manipulator with linear curvature segments Title Follow-the-leader motion simulation of a continuum manipulator with linear curvature segments Author Vieveen, Sander (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Breedveld, Paul (mentor) Culmone, Costanza (mentor) Henselmans, Paul (mentor) Langelaar, Matthijs (mentor) Degree granting institution Delft University of Technology Date 2018-01-18 Abstract Background: Delft University of Technology has developed two working prototypes of flexible instruments for surgery, together with a master-slave system. The master-slave system is compatible with the simple parallel cable configuration and the more complex parallel and diagonal cable configuration. It is assumed that the instrument with a complex cable configuration requires fewer segments, compared to an instrument with a simple cable configuration, to cover a complex path, with the same accuracy. Study design: researchMethods: The two different cable configurations are modeled. The model will first determine the shapes one segment can form. Afterwards, the possible shapes of the segments are combined to judge the performance of the flexible instruments with an algorithm. The algorithm is purely kinematic and does not take forces into account.Results: The results show a strong preference for the cable configuration with parallel and diagonal cables. This configuration needs fewer degrees of freedom to reach the same error. Conclusion: Therefore it can be concluded that the cable configuration with parallel and diagonal cables is more promising in combination with the predesigned master-slave system. Subject FlexibleCompliantcurvatureHelixflexMultiflexFollow-the-leadermedical instrumentsmedical devicesmanipulator To reference this document use: http://resolver.tudelft.nl/uuid:255908c9-d248-4b2f-9d23-abe1670480e7 Part of collection Student theses Document type master thesis Rights © 2018 Sander Vieveen Files PDF upload_version_S.C.A.Vieveen.pdf 3.59 MB Close viewer /islandora/object/uuid:255908c9-d248-4b2f-9d23-abe1670480e7/datastream/OBJ/view