Research Papers

Design and Evaluation of a Novel Rotatable One-Element Snake Bone for NOTES

[+] Author and Article Information
Bin Liu

Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-305,
Beijing 100871, China
e-mail: 1601111667@pku.edu.cn

Aoyu Zhang

Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-301,
Beijing 100871, China
e-mail: 1101111324@pku.edu.cn

John Liu

Department of Mechanical Engineering,
Massachusetts Institute of Technology,
77 Massachusetts Avenue,
Building 3, Room 137,
Cambridge, MA 02139
e-mail: johnhliu@mit.edu

Zhimin Han

Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-301,
Beijing 100871, China
e-mail: Jimmyhanzm@126.com

Tianyu Xie

Department of Biomedical Engineering,
College of Engineering,
Peking University,
Zhongguancunbei Street,
The Leo KoGuan Building, Room 2-304,
Beijing 100871, China
e-mail: 1001111168@pku.edu.cn

1Corresponding author.

Manuscript received November 18, 2017; final manuscript received January 23, 2018; published online April 18, 2018. Editor: William Durfee.

J. Med. Devices 12(2), 021006 (Apr 18, 2018) (8 pages) Paper No: MED-17-1352; doi: 10.1115/1.4039592 History: Received November 18, 2017; Revised January 23, 2018

The distal head of the natural orifice transluminal endoscopic surgery (NOTES) platform commonly uses the structure of a snake bone, which cannot rotate, and the manufacturing is often time-consuming. A novel rotatable, one-element snake bone for NOTES is proposed. This paper first describes the movement mechanism and actuation. The new structure, which is composed of hinge pairs for bending and track-sled rings for rotation, was designed to reach a 90 deg bending angle and 62 deg rotational angle. The workspace of the snake bone was derived using screw theory and was simulated on matlab. The relationship between the angle and wire displacement was analyzed in detail. The new snake bone system bent and rotated by manipulating control wires that were actuated by DC motors, and its angular movements were measured by motion sensors with an angle error within ±2.6 deg. The snake bone was mounted on a flexible tube, inserted into a colonoscopy model, and navigated by motor actuation to eventually reach the cecum. The experimental results demonstrate the new snake bone's ability to travel through a natural orifice by rotating and bending, which satisfies the mobility requirement for NOTES.

Copyright © 2018 by ASME
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Fig. 1

The design of the rotatable one-element snake bone: one segment consists of pairs of bending hinges and a rotational section of track-sled rings

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Fig. 2

Schematic diagram of the bending angle θ between the female hinge and male hinge: (a) original and (b) bending θ status of the adjacent links

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Fig. 3

Schematic diagram of the rotating angle δ between the track and sled

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Fig. 4

Workspace of the revised snake bone: results generated by: (a) adjusting θx,θy without rotation and (b) adjusting θx,θy,andδ

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Fig. 5

Some extreme gestures: certain angle or multiple angles reach the maximum

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Fig. 6

The rotational actuation of the snake bone: a pair of wires spiral up the body axis to form a helix of decreasing pitch toward the top of the snake bone

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Fig. 7

The relation between the rotation wire displacement and rotation angle

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Fig. 8

Fabrication and validation: (a) the machined snake bone is laser machined as one piece and (b) the experimental setup and schematic

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Fig. 9

Bending and rotation as a function of the pulled wire displacement. The average of 100 trials is presented as a single profile. For clarity, bending and rotation in only one direction is displayed. The maximum body bending angle and body rotation angle is 90 and 62 deg, respectively.

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Fig. 10

Deflection angles between the TSB and unit vector in the z positive direction

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Fig. 11

Illustration of the inserted instrument

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Fig. 12

Colonoscopy training model and some pictures at specific locations in the model. V1V6 represents the location of the camera.



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