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dc.contributor.authorLiu Jiajunen_US
dc.contributor.authorCao Linen_US
dc.contributor.authorMiyasaka, Muneakien_US
dc.contributor.authorPhee, Soo Jayen_US
dc.identifier.citationLiu Jiajun, Cao Lin, Miyasaka, M. & Phee, S. J. (2021). A frictional contact-pattern-based model for inserting a flexible shaft into curved channels. IEEE/ASME Transactions On Mechatronics.
dc.description.abstractFlexible endoscopy and catheterization typically involve inserting a flexible shaft into a curved channel. Understanding the mechanics involved in the insertion process is crucial for the structural design, actuation, sensing, control, and navigation of these flexible medical tools. However, the everchanging contacts and friction between the insertion shaft and the pathway make the mechanics complicated. Existing analytical models simplify the problem by neglecting the friction and assuming specific boundary conditions that are valid only in a few specific instances. In the meantime, FEM models have trade-offs between computation speed, accuracy, and stability. This paper presents an efficient theoretical framework to model the insertion process with friction, promoting fast and accurate computation of the mechanics involved. The inserting shaft is segmented based on the evolving contacts; system equations are formulated with friction-included force equilibrium and boundary conditions. The model is verified through experiments; channels with different shapes/curvatures were considered. The root-mean-square errors between the model and measured insertion forces are less than 0.055N (average percentage error less than 9.62%). This model will enhance the fundamental understanding of the insertion process's mechanics and benefit the engineering (design, actuation, and control) and medical practices of related medical tools (e.g., endoscopic instruments and catheters).en_US
dc.description.sponsorshipNational Research Foundation (NRF)en_US
dc.relation.ispartofIEEE/ASME Transactions on Mechatronicsen_US
dc.rights© 2021 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
dc.subjectEngineering::Mechanical engineering::Surgical assistive technologyen_US
dc.titleA frictional contact-pattern-based model for inserting a flexible shaft into curved channelsen_US
dc.typeJournal Articleen
dc.contributor.schoolSchool of Mechanical and Aerospace Engineeringen_US
dc.contributor.researchRobotics Research Centreen_US
dc.description.versionAccepted versionen_US
dc.subject.keywordsContact Forceen_US
dc.description.acknowledgementThis work was supported by National Research Foundation (NRF) Singapore under Grant NRFI2016-07.en_US
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