Modeling of the wire-driven deflection mechanism with application in ureteroscope.

Lei, Man Cheong.Thesis (M.Phil.)--Chinese University of Hong Kong, 2011.Includes bibliographical references (leaves 79-80).Abstracts in English and Chinese.Abstract --- p.iAcknowledgement --- p.iiiTable of Contents --- p.ivChapter 1. --- Introduction --- p.1Chapter 2. --- Introduction to Ureteroscope --- p.3Chapter 2.1. --- Ureteroscope --- p.3Chapter 2.2. --- Configuration of flexible ureteroscope --- p.5Chapter 2.2.1. --- The optical system --- p.5Chapter 2.2.2. --- Deflection mechanism --- p.6Chapter 2.2.3. --- Control wires (Guidewires) --- p.9Chapter 2.2.4. --- Working channel --- p.10Chapter 2.3. --- Problems of the existing products --- p.10Chapter 2.4. --- Designs of the bending section --- p.11Chapter 2.4.1. --- Pin-joint bending section --- p.12Chapter 2.4.2. --- Wire-connected bending section --- p.15Chapter 2.5. --- CAD Modeling of the bending section --- p.16Chapter 2.5.1. --- Different designs of components --- p.16Chapter 2.5.2. --- Configuration of the bending section --- p.17Chapter 3. --- Wire-Driven Deflection Mechanism --- p.19Chapter 3.1. --- Literature review --- p.19Chapter 3.2. --- Geometry modeling of the bending section --- p.21Chapter 3.2.1. --- Description of formulation --- p.21Chapter 3.2.2. --- Assumption --- p.21Chapter 3.2.3. --- Notation --- p.22Chapter 3.2.4. --- Geometric analysis --- p.22Chapter 3.3. --- Simulations of the motion of the deflection mechanism --- p.26Chapter 3.3.1. --- Construction of the simulation --- p.26Chapter 3.3.2. --- Controlled by a pair of wires --- p.28Chapter 3.3.2.1. --- For bending section composed by identical parts --- p.28Chapter 3.3.2.2. --- For bending section composed by two sub-sections --- p.29Chapter 3.3.3. --- Controlled by two pairs of wires --- p.30Chapter 3.3.3.1. --- Deflecting in the same direction --- p.30Chapter 3.3.3.2. --- Deflecting in opposite direction --- p.31Chapter 3.4. --- Trajectory of the distal end --- p.32Chapter 3.4.1. --- Bending section composing by identical parts --- p.32Chapter 3.4.2. --- Bending section composing by two sub-sections --- p.40Chapter 3.4.2.1. --- Controlled by a single pair of wires --- p.43Chapter 3.4.2.2. --- Controlled by two pairs of wires --- p.46Chapter 3.5. --- Static analysis of the deflection mechanism --- p.57Chapter 4. --- Application: Design of Ureteroscope --- p.64Chapter 4.1. --- Design of the bending section --- p.64Chapter 4.2. --- Design of the control body --- p.67Chapter 4.2.1. --- Parts introduction and major assembling --- p.68Chapter 4.2.2. --- Control mechanism --- p.72Chapter 5. --- Conclusion and Future Work --- p.75Chapter 6. --- Bibliography --- p.79Chapter Appendix A: --- List of Publication --- p.81Chapter Appendix B: --- MATLAB Programs V --- p.8