• About
    • Login
    View Item 
    •   Institutional Repository Home
    • Electronic Theses and Dissertations
    • Electronic Theses and Dissertations
    • View Item
    •   Institutional Repository Home
    • Electronic Theses and Dissertations
    • Electronic Theses and Dissertations
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Browse

    All of Institutional RepositoryCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsThis CollectionBy Issue DateAuthorsTitlesSubjects

    My Account

    LoginRegister

    Concentric Tube Robots: Design, Deployment, and Stability

    Gilbert, Hunter Bryant
    : https://etd.library.vanderbilt.edu/etd-07202016-210649
    http://hdl.handle.net/1803/13344
    : 2016-07-26

    Abstract

    Concentric tube robots are needle-diameter robots consisting of multiple precurved, nested, superelastic tubes. They can be made to controllably elongate and bend by grasping the tubes at their bases and applying axial rotation and translation to each tube independently. This causes the tubes to bend and twist one another. This dissertation presents modeling, analysis, and design of these robots for medical uses as both robotic manipulators and steerable needles. The design of a robotic system for endoscopic endonasal surgery is presented, and a novel electrical technique for creating custom tube curvatures is described. The elastic stability of concentric tube robots is modeled and analyzed to provide design conditions for stability and a stability indicator that characterizes the relative stability of the robot based on its configuration. When used as a needle, the shaft of the robot must always remain along the path traced by the tip, as the robot elongates. Necessary and sufficient design and actuation conditions are presented that result in this behavior, and approximations of it are also considered. Lastly, a method is developed and experimentally characterized for mechanics-based force sensing using knowledge of the robot stiffness and position and/or orientation measurements along the shaft of the robot.
    Show full item record

    Files in this item

    Icon
    Name:
    HGilbert.pdf
    Size:
    6.126Mb
    Format:
    PDF
    View/Open

    This item appears in the following collection(s):

    • Electronic Theses and Dissertations

    Connect with Vanderbilt Libraries

    Your Vanderbilt

    • Alumni
    • Current Students
    • Faculty & Staff
    • International Students
    • Media
    • Parents & Family
    • Prospective Students
    • Researchers
    • Sports Fans
    • Visitors & Neighbors

    Support the Jean and Alexander Heard Libraries

    Support the Library...Give Now

    Gifts to the Libraries support the learning and research needs of the entire Vanderbilt community. Learn more about giving to the Libraries.

    Become a Friend of the Libraries

    Quick Links

    • Hours
    • About
    • Employment
    • Staff Directory
    • Accessibility Services
    • Contact
    • Vanderbilt Home
    • Privacy Policy