Flexible endoscopy and catheterization typically involve inserting a flexible shaft into curved channel. Understanding the mechanics involved in insertion process is crucial for structural design, actuation, sensing, control, navigation of these medical tools. However, ever-changing contacts friction between pathway make complicated. Existing analytical models simplify problem by neglecting ass...

In this article, a new method to control a flexible robotic arm using a conventional motor with a gear actuator strongly affected by non-linear friction torque is proposed. This control method does not require friction compensation and hence the estimation of this term because the control scheme is robust with respect to this effect. On the other hand, the only variables to measure are the moto...

Adenotonsillectomy is a unique challenging procedure for the anaesthesiologist as the airway is shared between the anaesthesia provider and the surgeon. Endotracheal intubation is the standard means to secure the airway in adenotonsillectomy [1]. In recent years, the flexible laryngeal mask airway (FLMA) has been used with increased frequency as an alternative [2]. This device has a a longer, n...

A validated dynamic model of a golf driver can be an invaluable asset in designing a well performing club. We present a model for simulating the golf drive that includes experimentally-measured inputs from actual golfers, and a three-dimensional (3D) flexible shaft model based on Rayleigh beam theory. The result is a computationally-efficient dynamic model that includes the “signature” of an in...

Femoral-shaft fractures are frequent in children and adolescents. Fortunately, most unite rapidly without significant complications or sequelae. Treatment options include spica casting, traction, external fixation, compression plating, and flexible or locked intramedullary nailing, each of which has advantages and dis-advantages. Treatment is determined primarily on the basis of the age of the ...

Treatment outcomes were compared in two groups of children with femoral diaphyseal fractures which were treated with external fixation (20 fractures) or flexible intramedullary nailing (20 fractures). These 40 children were between 5.4 to 14.1 years of age. The duration of the operation averaged 52 minutes for the external fixator compared with 70 minutes for the flexible nail group. The time t...

Turbo generator shafts are often subjected to cyclic torsion resulting in formation of large longitudinal cracks as well as circumferential cracks. The presence of these cracks could greatly impact the shaft resonance frequencies. In this paper, dynamic response of a shaft with longitudinal and circumferential cracks is investigated through a comprehensive analytical study. The longitudinally c...

in this paper, the effects of transverse cracks on rotating shaft were studied. according to earlier works, crack shaft failure decrease the critical speed of the shaft and also exhibit a nonlinear vibration behaviour leading to increases the amplitude of 1x and 2x harmonics (first and second order of rotational speed in torsional vibration). this suggests that the application of order analysis...

Robots promise to enhance minimally-invasive surgery, but flexion of the thin instrument shaft introduces error into models of the robot kinematics. Visual or electromagnetic tracking of the instrument tip provides correct forward kinematics, but uncertainty in shaft bending and port location leaves residual errors in inverse kinematics. These errors can cause incorrect motions that preclude th...