3-D multibody modeling of a flexible surgical instrument inside an endoscope


Khatait, J.P. and Brouwer, D.M. and Meijaard, J.P. and Aarts, R.G.K.M. and Herder, J.L. (2012) 3-D multibody modeling of a flexible surgical instrument inside an endoscope. In: ASME 2012 International Mechanical Engineering Congress&Exposition, 2012-11-09 - 2012-11-15, Houston, Texas, USA.

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Abstract:Modern surgical procedures involve flexible instruments for
both diagnostic and therapeutic purposes. 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 and clearance inside
the endoscope, and the compliance of the instrument.
The objective of this paper is to set up a 3-D flexible
multibody model for a surgical instrument inside an endoscope
to study its translational and rotational behavior. The 3-D model
incorporates all the deformations—axial, torsion, and bending—
due to its interaction with the surroundings. The interaction
due to the contact is defined along the normal and tangential
direction at the contact point. The wall stiffness and damping
are defined in the normal direction. Friction is defined along the
tangential direction. The calculation of the interaction force and
moment is explained with an example.
Various simulations were performed to study the behavior of
the instrument inside a curved rigid tube. The simulations for the
insertion into a 3-D tube defined in a plane were compared for
both 2-D and 3-D model. The simulation results from the 3-D
∗Address all correspondence to this author. Tel.: +31 53 489 5442. Fax: +31
53 489 3631. Email: j.p.khatait@utwente.nl
model give the same results as the 2-D model. A simulation was
carried out for the insertion in a 3-D tube using the 3-D model
and the total interaction force on the instrument was analyzed.
A 3-D multibody model was set up for the simulation of fine
rotation. A motion hysteresis of 5◦ was observed for the chosen
The 3-D multibody model is able to demonstrate the characteristic
behavior of the flexible instrument under different
scenarios. Both translational and rotational behavior of the
instrument can be characterized for the given set of parameters.
The developed model will help us to study the effect of various
parameters on the motion and force transmission of the instrument.
Item Type:Conference or Workshop Item
Engineering Technology (CTW)
Link to this item:http://purl.utwente.nl/publications/81987
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