| Biotribological investigation of a multi-tube foot for traction generation in a medical microrobot. | |
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MedLine Citation:
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PMID: 19743634 Owner: NLM Status: MEDLINE |
Abstract/OtherAbstract:
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In recent years, efforts to develop microrobots for medical applications have been expanding. One of the key design issues in such microrobots is to attain adequate frictional interaction between the robotic foot and the organ tissue. In particular, it is important to generate the necessary frictional force without damaging the tissue. In this work, a design for the robotic foot was proposed on the basis of the frictional behaviour of a tube structure. Fundamental experiments were initially performed to understand the biotribological behaviour of the tube and rod structures. The design was then modified to a multi-tube structure to achieve adequate frictional behaviour. Biotribological investigation of a multi-tube foot in contact with a small intestine specimen of a pig was conducted using a pin-on-reciprocator type biotribotester. It was found that there is an optimum number and arrangement of the tubes for generating high frictional force. Experimental results showed that a nine-tube foot had the highest initial friction coefficient of about 1.5. The major frictional mechanism was determined to be interlocking between the tubes and the surface structures of the intestine specimen. The results of this work will aid the optimum design of frictional surface for medical microrobots and other biological devices. |
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Authors:
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Y T Kim; D E Kim |
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Publication Detail:
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Type: Journal Article; Research Support, Non-U.S. Gov't |
Journal Detail:
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Title: Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine Volume: 223 ISSN: 0954-4119 ISO Abbreviation: - Publication Date: 2009 Aug |
Date Detail:
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Created Date: 2009-09-11 Completed Date: 2009-10-07 Revised Date: - |
Medline Journal Info:
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Nlm Unique ID: 8908934 Medline TA: Proc Inst Mech Eng H Country: England |
Other Details:
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Languages: eng Pagination: 677-86 Citation Subset: IM |
Affiliation:
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Department of Mechanical Engineering, Yonsei University, Seoul, Republic of Korea. |
Export Citation:
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| MeSH Terms | |
Descriptor/Qualifier:
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Biomimetic Materials* Computer-Aided Design Equipment Design Equipment Failure Analysis Foot* Friction Lubrication Miniaturization Motion Reproducibility of Results Robotics / instrumentation* Sensitivity and Specificity |
From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine
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