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• W3037175626 abstract "Abstract The objective of this chapter is to devise a steerable and bendable surgical drill-guide system. Existing designs are drilling through bones from the external of the body and thus requires limited dexterity in the sense of having straight, or a small maximum angle of curvature or a large minimum radius of curvature, more than 10 mm. By exploring designs of steerable surgical drill guides, it is possible to open up new surgical methods or improvement in safety and efficiency to existing ones, such as tracheotomy. In addition to the angle and radius of curvature, the stability of the drill guides is important since excessive vibration could result in inaccurate drilling and impedes collection of force data. The angle and radius of curvature could be determined through the design of the support linkage. The instability and vibration during the drilling, however, are challenging to be accurately modeled. Deflection of the drill without load was measured at the tip of the drill in the x- and y-axes, with the z-axis collinear to the drill shaft. Then, the drill was allowed to drill through a piece of gelatin approximately 30 mm thick, and the diameter of the exit hole was measured. Through the experiments carried out at different speeds of drilling, it was found that the deflection in x-axis varied between 1 and 4.2 mm, and the deflection in y-axis varied between 1 and 2 mm given that the tendon wires are held. The exit hole generally fluctuated between 2 and 4 mm. While the experimental data prove that the proof-of-concept design is generally stable during drilling, they only provide an estimation since the prototype was three-dimensionally (3D) printed, different from the actual material of stainless steel intended for surgical instruments. Therefore, for more accurate data, a prototype of the actual size and material needs to be used in the future experiment." @default.
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• W3037175626 date "2020-01-01" @default.
• W3037175626 modified "2023-10-17" @default.
• W3037175626 title "Tendon-driven linkage for steerable guide of flexible bending manipulation" @default.
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• W3037175626 doi "https://doi.org/10.1016/b978-0-12-817595-8.00009-2" @default.
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