Biotribological investigation of multi-tube foot for application in medical micro-robot

Y. T. Kim, Dae Eun Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

In recent years, efforts to develop micro-robots for medical applications have been expanding. One of the key design issues in such micro-robots is to attain adequate frictional interaction between the robotic foot and the organ tissue. Particularly, it is important to generate the necessary frictional force without damaging the tissue. In this work, a design for the robotic foot was developed based on the frictional behavior of a tube structure. Fundamental experiments were initially performed to understand the bio-tribological behavior of a single tube. Then the design was modified to a multi-foot structure to achieve adequate friction. Bio-tribological investigation of a multi-tube foot in contact with a small intestine specimen of a pig was conducted. Friction tests were conducted using a pin-onreciprocator type bio-tribotester. It was found that the multitube foot shows stick-slip behavior when slid against the small intestine specimen. The major mechanism behind the stick-slip behavior was due to interlocking between the tubes and the surface structures of the intestine specimen. Results of this work may be utilized for optimum design of frictional surface of medical micro-robots and other biological devices.

Original languageEnglish
Title of host publication2007 Proceedings of the ASME/STLE International Joint Tribology Conference, IJTC 2007
Pages957-959
Number of pages3
VolumePART B
DOIs
Publication statusPublished - 2008 May 19
Event2007 ASME/STLE International Joint Tribology Conference, IJTC 2007 - San Diego, CA, United States
Duration: 2007 Oct 222007 Oct 24

Other

Other2007 ASME/STLE International Joint Tribology Conference, IJTC 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2207/10/24

Fingerprint

robots
Stick-slip
intestines
Robots
tubes
Robotics
Tissue
Friction
robotics
Medical applications
slip
Surface structure
friction
swine
organs
locking
Experiments
interactions

All Science Journal Classification (ASJC) codes

  • Mechanical Engineering
  • Surfaces, Coatings and Films
  • Condensed Matter Physics
  • Surfaces and Interfaces

Cite this

Kim, Y. T., & Kim, D. E. (2008). Biotribological investigation of multi-tube foot for application in medical micro-robot. In 2007 Proceedings of the ASME/STLE International Joint Tribology Conference, IJTC 2007 (Vol. PART B, pp. 957-959) https://doi.org/10.1115/IJTC2007-44262
Kim, Y. T. ; Kim, Dae Eun. / Biotribological investigation of multi-tube foot for application in medical micro-robot. 2007 Proceedings of the ASME/STLE International Joint Tribology Conference, IJTC 2007. Vol. PART B 2008. pp. 957-959
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Kim, YT & Kim, DE 2008, Biotribological investigation of multi-tube foot for application in medical micro-robot. in 2007 Proceedings of the ASME/STLE International Joint Tribology Conference, IJTC 2007. vol. PART B, pp. 957-959, 2007 ASME/STLE International Joint Tribology Conference, IJTC 2007, San Diego, CA, United States, 07/10/22. https://doi.org/10.1115/IJTC2007-44262

Biotribological investigation of multi-tube foot for application in medical micro-robot. / Kim, Y. T.; Kim, Dae Eun.

2007 Proceedings of the ASME/STLE International Joint Tribology Conference, IJTC 2007. Vol. PART B 2008. p. 957-959.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kim YT, Kim DE. Biotribological investigation of multi-tube foot for application in medical micro-robot. In 2007 Proceedings of the ASME/STLE International Joint Tribology Conference, IJTC 2007. Vol. PART B. 2008. p. 957-959 https://doi.org/10.1115/IJTC2007-44262