Design of a Compliant Endoscopic Suturing Instrument

2008 ◽  
Vol 2 (2) ◽  
Author(s):  
James A. Cronin ◽  
Mary I. Frecker ◽  
Abraham Mathew
Keyword(s):  
Finite Element Analysis ◽  
Minimally Invasive Surgery ◽  
Compliant Mechanisms ◽  
Stress Relief ◽  
Natural Orifice ◽  
Endoscopic Suturing ◽  
Element Analysis ◽  
Design And Optimization ◽  
Puncture Force ◽  
Nonlinear Deformations

This paper describes the initial design and optimization of a compliant endoscopic suturing instrument. The emerging field of Natural Orifice Transluminal Endoscopic Surgery (NOTES) requires innovative instruments to meet the size limitations inherent in this type of minimally invasive surgery; using compliant mechanisms is proposed as one method of meeting this requirement. The compliant design was modeled and optimized to maximize the distal opening and provide a puncture force of at least 4.6N, while being small enough to fit within a 3.3mm working channel. The design utilizes contact for stress relief and intertwining parts for added deflection. ANSYS® was used for finite element analysis including contact and nonlinear deformations. A prototype was fabricated from the optimized geometry and experimentally tested. The best geometry is predicted to have a distal opening of 14.6mm at the tips and supply a puncturing force of 4.83N. The force supplied at the tip was measured and was found to exceed the required 4.6N. The prototype successfully passed two complete sutures and qualitative results are provided. The results of the study will lead to further refinements and improvements in future designs.

Design of a Compliant Endoscopic Suturing Instrument

2007 ◽  
Author(s):  
James A. Cronin ◽  
Mary Frecker ◽  
Abraham Mathew
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Compliant Mechanisms ◽  
Stress Relief ◽  
Initial Study ◽  
Response Patterns ◽  
Natural Orifice ◽  
Endoscopic Suturing ◽  
Jaw Opening ◽  
Puncture Force

This paper outlines the development and initial optimization of a compliant endoscopic suturing instrument. The developing field of Natural Orifice Transluminal Endoscopic Surgery requires innovative instruments to meet the size limitations inherent in this type of minimally invasive surgery; using compliant mechanisms is proposed as one method of meeting this requirement. Three initial compliant designs were created, modeled, and compared for a distal opening of 10 mm. Restricting these designs so that they must fit within a 3.3 mm working channel is currently unique in endoscopic suturing instruments. A design that utilizes contact for stress relief and intertwining parts for added deflection was selected from the three. ANSYS® was used to aid in graphical optimization to maximize the jaw opening and maximize the puncture force of the selected design. The best geometry has a distal opening of 13.8 mm at the tips and can supply a puncturing force of 6.33 N. A prototype has been machined using the optimized dimensions and is ready to be tested. This initial study in compliant suturing instrument designs has revealed response patterns for the chosen geometries that will lead to further refinements and improvements in future models.

Bistable Compliant Four-Bar Mechanisms With a Single Torsional Spring

2006 ◽  
Author(s):  
Adarsh Mavanthoor ◽  
Ashok Midha
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Mechanism Design ◽  
Compliant Mechanisms ◽  
Compliant Mechanism ◽  
Stored Energy ◽  
Element Analysis ◽  
Bistable Behavior ◽  
Torsional Spring ◽  
Bistable Mechanism

Significant reduction in cost and time of bistable mechanism design can be achieved by understanding their bistable behavior. This paper presents bistable compliant mechanisms whose pseudo-rigid-body models (PRBM) are four-bar mechanisms with a torsional spring. Stable and unstable equilibrium positions are calculated for such four-bar mechanisms, defining their bistable behavior for all possible permutations of torsional spring locations. Finite Element Analysis (FEA) and simulation is used to illustrate the bistable behavior of a compliant mechanism with a straight compliant member, using stored energy plots. These results, along with the four-bar and the compliant mechanism information, can then be used to design a bistable compliant mechanism to meet specified requirements.

Modeling Large Spatial Deflections of Slender Bisymmetric Beams in Compliant Mechanisms Using Chained Spatial-Beam Constraint Model

2016 ◽  
Vol 8 (4) ◽  
Author(s):  
Guimin Chen ◽  
Ruiyu Bai
Keyword(s):  
Finite Element Analysis ◽  
Compliant Mechanisms ◽  
Research Community ◽  
Nonlinear Finite Element ◽  
Nonlinear Constraint ◽  
Element Analysis ◽  
Flexible Beams ◽  
Spatial Beams ◽  
Spatial Beam ◽  
Constraint Model

Modeling large spatial deflections of flexible beams has been one of the most challenging problems in the research community of compliant mechanisms. This work presents a method called chained spatial-beam constraint model (CSBCM) for modeling large spatial deflections of flexible bisymmetric beams in compliant mechanisms. CSBCM is based on the spatial-beam constraint model (SBCM), which was developed for the purpose of accurately predicting the nonlinear constraint characteristics of bisymmetric spatial beams in their intermediate deflection range. CSBCM deals with large spatial deflections by dividing a spatial beam into several elements, modeling each element with SBCM, and then assembling the deflected elements using the transformation defined by Tait–Bryan angles to form the whole deflection. It is demonstrated that CSBCM is capable of solving various large spatial deflection problems either the tip loads are known or the tip deflections are known. The examples show that CSBCM can accurately predict large spatial deflections of flexible beams, as compared to the available nonlinear finite element analysis (FEA) results obtained by ansys. The results also demonstrated the unique capabilities of CSBCM to solve large spatial deflection problems that are outside the range of ansys.

Design, analysis and test of a novel cylinder-driven mode applied to microgripper

2021 ◽  
pp. 1-14
Author(s):  
Xiaodong Chen ◽  
ZM Xie ◽  
Huifeng Tan
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Compliant Mechanisms ◽  
Research Field ◽  
Driving Pressure ◽  
Maximum Output ◽  
Element Analysis ◽  
Output Displacement ◽  
Micro Parts ◽  
The Relationship

Abstract How to enlarge the output displacement is a key issue in the research field of microgrippers. It is difficult to further enlarge the output displacement for the traditional displacement transmission mechanism (DTM). In this research, a two-stage amplification cylinder-driven DTM based on the compliant mechanisms is designed to realize the displacement output expansion. The opening and closing of the clamping jaws is driven by the air cylinder to enlarge the output displacement of the microgripper. According to the analysis of statics model of the mechanism, the relationship between the output displacement of the microgripper and the driving pressure of the cylinder is established. The magnification of the microgripper is obtained using a dynamic model. Moreover, based on the finite element analysis, the mechanical structure parameters are optimized. The microgripper was fabricated by utilizing wire electro discharge machining (WEDM) technique, and then a series of experiments were carried out to obtain the relationship between the displacement and the driving pressure. It is found that the maximum output displacement measured is 1190.4μm under the pressure of 0-0.6 Mpa, corresponding to the magnification of 47.63. Compared with the results of finite element analysis and theoretical calculation, the test results have a discrepancy of 2.39% and 6.62%, respectively. The microgripper has successfully grasped a variety of micro-parts with irregular shapes, and parallel grasping can be achieved, demonstrating the potential application of this design in the field of micromanipulation.

Design and optimization of a demagnetization device for fine blanking process by finite element analysis

2021 ◽  
Author(s):  
Juan Pablo Arreguin-Rodriguez ◽  
Sergio Antonio Campos Montiel ◽  
Juvenal Rodriguez-Resendiz ◽  
Gonzalo Macias Bobadilla ◽  
Jose Eli Eduardo Gonzalez-Duran
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Element Analysis ◽  
Fine Blanking ◽  
Design And Optimization ◽  
Blanking Process

Finite Element Analysis of the Nut-Supports Subassembly Based on ANSYS

2012 ◽  
Vol 215-216 ◽  
pp. 847-850
Author(s):  
Shou Jun Wang ◽  
Xing Xiong ◽  
Hong Jie Wang
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Reference Data ◽  
Three Dimensional ◽  
Design Parameters ◽  
Weak Links ◽  
Fe Model ◽  
Element Analysis ◽  
Design And Optimization ◽  
Wave Maker

In the condition of alternating impact ,the nut-supports subassembly is analyzed according to uncertainty of design parameters. Firstly, a three-dimensional (3-D) finite element (FE) model of the nut-supports subassembly is built and is meshed,and the constraints and loads are imposed.Secondly,the model of nut-supports was assembled using the software ANSYS to understand the stress distribution and various parts of the deformation of the nut-supports and its weak links in the harmonic forces.Finally,socket head cap screw has not enough pre-load in the condition of alternating impact and will be simplified.It is analyzed and checked whether it is cut or not; which provides the reference data for design and optimization of the wave maker.

scholarly journals Rapid Design and Analysis of Microtube Pneumatic Actuators Using Line-Segment and Multi-Segment Euler–Bernoulli Beam Models

Micromachines ◽  
2019 ◽  
Vol 10 (11) ◽  
pp. 780 ◽  
Author(s):  
Myunggi Ji ◽  
Qiang Li ◽  
In Ho Cho ◽  
Jaeyoun Kim
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Line Segment ◽  
Beam Model ◽  
Element Analysis ◽  
Pneumatic Actuators ◽  
Design And Optimization ◽  
Rapid Design ◽  
The Finite Element Analysis ◽  
Soft Actuators

Soft material-based pneumatic microtube actuators are attracting intense interest, since their bending motion is potentially useful for the safe manipulation of delicate biological objects. To increase their utility in biomedicine, researchers have begun to apply shape-engineering to the microtubes to diversify their bending patterns. However, design and analysis of such microtube actuators are challenging in general, due to their continuum natures and small dimensions. In this paper, we establish two methods for rapid design, analysis, and optimization of such complex, shape-engineered microtube actuators that are based on the line-segment model and the multi-segment Euler–Bernoulli’s beam model, respectively, and are less computation-intensive than the more conventional method based on finite element analysis. To validate the models, we first realized multi-segment microtube actuators physically, then compared their experimentally observed motions against those obtained from the models. We obtained good agreements between the three sets of results with their maximum bending-angle errors falling within ±11%. In terms of computational efficiency, our models decreased the simulation time significantly, down to a few seconds, in contrast with the finite element analysis that sometimes can take hours. The models reported in this paper exhibit great potential for rapid and facile design and optimization of shape-engineered soft actuators.

An Improved Method for Designing Flexure-Based Nonlinear Springs

2012 ◽  
Author(s):  
Qiaoling Meng ◽  
Giovanni Berselli ◽  
Rocco Vertechy ◽  
Vincenzo Parenti Castelli
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Compliant Mechanisms ◽  
Empirical Equations ◽  
Element Analysis ◽  
Closed Form Solutions ◽  
Nonlinear Springs ◽  
Aspect Ratios ◽  
Analytical Relations ◽  
Flexural Hinges

Monolithic Flexure-based Compliant Mechanisms (MFCM) can functionally act as nonlinear springs by providing a desired load-displacement profile at one point on their structure. Once the MFCM topology is chosen, these particular springs can be conveniently synthesized by resorting to the well-known Pseudo-Rigid-Body approximation, whose accuracy strongly depends on the modeling precision of the flexures’ principal compliance. For various types of flexures, closed-form solutions have been proposed which express the compliance factors as functions of the flexure dimensions. Nonetheless, the reliability of these analytical relations is limited to slender, beam-like, hinges undergoing small deflections. In order to overcome such limitations, this paper provides empirical equations, derived from finite element analysis, that can be used for the optimal design of circular, elliptical, and corner-filleted flexural hinges with general aspect ratios on the basis of both principal compliance and maximum bearable stress. As a case study, a nonlinear spring conceived as a four-bar linkage MFCM is synthesized and simulated by means of finite element analysis. Numerical results confirm that the aforementioned empirical equations outperform their analytical counterparts when modeling thick cross-section hinges undergoing large deflections.

Mechanical Behaviour of Auxetic Microstructures Using Contact Mechanics and Elastoplasticity

2016 ◽  
Vol 681 ◽  
pp. 100-116
Author(s):  
Georgios A. Drosopoulos ◽  
Nikolaos Kaminakis ◽  
Nikoletta Papadogianni ◽  
Georgios E. Stavroulakis
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Topology Optimization ◽  
Contact Mechanics ◽  
Compliant Mechanisms ◽  
Nonlinear Finite Element Analysis ◽  
Nonlinear Finite Element ◽  
Numerical Homogenization ◽  
Element Analysis ◽  
Optimization Formulation

The design of novel mechanical microstructures having auxetic behaviour is proposed in this paper using techniques of topology optimization for compliant mechanisms. The resulting microstructure can be modified in order to cover additional needs, not included in the topology optimization formulation. Classical structural optimization, contact mechanics, homogenization and nonlinear finite element analysis are used for this step. Thus, the modified microstructure or composite is studied with numerical homogenization in order to verify that it still has the wished auxetic behaviour. Finally, nonlinear finite element analysis shows how the auxetic behaviour is influenced by unilateral contact between the constituent materials, large displacements and elastoplasticity.

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