Design and analysis of feeder mechanism for buckling prevention in robotic catheterization

Abstract In this study, a novel two-degree-of-freedom active-feeder mechanism with disposable roller module for buckling prevention of the catheter tube was developed and analyzed. The phenomenon occurs when flexible part cannot withstand compressive force. Buckling can be prevented using additional parts that support long along tube; however, these passive-type buckling-prevention mechanisms improve transmissibility in rotational motion. By contrast, active-type transmit both translational motion but has bulky structure due to motors, which makes placing near patient difficult. Therefore, solve afore-mentioned issues, compact clinically practicable design is proposed. proposed feeder two driving-shaft modules enable simultaneous feeding minimum number motors. Furthermore, minimize deformation obtain sufficient grip force replicate surgeons’ operation, analysis conducted based on contact mechanics. maximum insertion rotating torque were estimated verified measured static friction coefficient. addition, we formulated an accurate length model experimental results. Using model, elimination performance through experiment robot system.