Flexible multibody modeling of a surgical instrument inside an endoscope

Jitendra P. Khatait; Dannis M. Brouwer; J.P. Meijaard; Ronald G.K.M. Aarts; Just L. Herder

doi:10.1115/1.4026059

Flexible multibody modeling of a surgical instrument inside an endoscope

Jitendra P. Khatait, Dannis M. Brouwer, J.P. Meijaard, Ronald G.K.M. Aarts, Just L. Herder

Research output: Contribution to journal › Article › Academic › peer-review

6 Citations (Scopus)

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Abstract

The implementation of flexible instruments in surgery necessitates high motion and force fidelity and good controllability of the tip. However, the positional accuracy and the force transmission of these instruments are jeopardized by the friction, the clearance, and the inherent compliance of the instrument. The surgical instrument is modeled as a series of interconnected spatial beam elements. The endoscope is modeled as a rigid curved tube. The stiffness, damping, and friction are defined in order to calculate the interaction between the instrument and the tube. The effects of various parameters on the motion and force transmission behavior were studied for the axially-loaded and no-load cases. The simulation results showed a deviation of 1.8% in the estimation of input force compared with the analytical capstan equation. The experimental results showed a deviation on the order of 1.0%. The developed flexible multibody model is able to demonstrate the characteristic behavior of the flexible instrument for both the translational and rotational input motion for a given set of parameters. The developed model will help us to study the effects of various parameters on the motion and force transmission of the instrument

Original language	English
Article number	011018
Number of pages	11
Journal	Journal of computational and nonlinear dynamics
Volume	9
Issue number	1
DOIs	https://doi.org/10.1115/1.4026059
Publication status	Published - Jan 2014

Keywords

Contact
Endoscope
flexible multibody modeling
Friction
Guidewire
Surgical instruments
Transmission
2023 OA procedure

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10.1115/1.4026059

ArticleFinal published version, 2.48 MBLicence: Taverne

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title = "Flexible multibody modeling of a surgical instrument inside an endoscope",

abstract = "The implementation of flexible instruments in surgery necessitates high motion and force fidelity and good controllability of the tip. However, the positional accuracy and the force transmission of these instruments are jeopardized by the friction, the clearance, and the inherent compliance of the instrument. The surgical instrument is modeled as a series of interconnected spatial beam elements. The endoscope is modeled as a rigid curved tube. The stiffness, damping, and friction are defined in order to calculate the interaction between the instrument and the tube. The effects of various parameters on the motion and force transmission behavior were studied for the axially-loaded and no-load cases. The simulation results showed a deviation of 1.8% in the estimation of input force compared with the analytical capstan equation. The experimental results showed a deviation on the order of 1.0%. The developed flexible multibody model is able to demonstrate the characteristic behavior of the flexible instrument for both the translational and rotational input motion for a given set of parameters. The developed model will help us to study the effects of various parameters on the motion and force transmission of the instrument",

keywords = "Contact, Endoscope, flexible multibody modeling, Friction, Guidewire, Surgical instruments, Transmission, 2023 OA procedure",

author = "Khatait, {Jitendra P.} and Brouwer, {Dannis M.} and J.P. Meijaard and Aarts, {Ronald G.K.M.} and Herder, {Just L.}",

note = "Funding Information: This research is funded with the TeleFLEX project (Grant No. PID07038) by the Dutch Department of Economic Affairs, Agriculture and Innovation and the Province of Overijssel, within the Pieken in de Delta (PIDON) initiative. Publisher Copyright: {\textcopyright} 2014 by ASME.",

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AU - Herder, Just L.

N1 - Funding Information: This research is funded with the TeleFLEX project (Grant No. PID07038) by the Dutch Department of Economic Affairs, Agriculture and Innovation and the Province of Overijssel, within the Pieken in de Delta (PIDON) initiative. Publisher Copyright: © 2014 by ASME.

PY - 2014/1

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Flexible multibody modeling of a surgical instrument inside an endoscope

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