CAD data underlying the publication: The Cryptex shape memory mechanism: an antagonistic mechanical controller for follow-the-leader surgical instruments
doi: 10.4121/84bcc2fe-fd4e-4c45-baae-1df38e535788
This repository contains the CAD data used to manufacture the prototype of the Cryptex Programmable Memory Mechanism.
The Cryptex Programmable Memory Mechanism (CPMM) is fully-mechanical Follow-the-Leader controller for tendon-driven, flexible catheters.
Basic function
The system contains a series of memory rings that can slide on a splined shaft. By rotating the shaft, an agular position is chosen for the rings. A second, fixed shaft is apposed axially to the first. The memory rings can be translated on to the fixed shaft one by one each with an arbitrary position, allowing the user to program a path to be followed.
Concentric to the fixed shaft is a set of 15 reading rings. As the memory rings are translated on to the fixed shaft, they pass through the reading rings.
The reading and memory rings are connected via a compliant H-beam that is located in the annular space between the two sets of rings. Bearings in the outer surface of the memory and inner surface of the reading rings engage with the H-beam.
As the memory rings are in different positions, their bearings deform the H-beam into a sort of cam track, and as the memory rings travel through the reading rings, the reading rings translate the shape of the cam track into tendon displacements that can be connected to a steerable instrument shaft.
The final prototype is approximately 155 mm long, has an outer diameter of 60.5 mm, and weighs approximately 780 grams.
It possesses eight memory rings and 15 reading rings, allowing it to steer 15 tip segments.
Purpose of the design
The goal of this research was to design an easy to implement shape-memory mechanism for tendon-driven follow-the-leader devices, by integrating antagonistic tendon control within the memory mechanism.
Description of the Dataset
The Dataset contains the Autodesk Inventor CAD files, as well as an open STEP file which can be viewed with most CAD programs.
- To view the assembly using Autodesk Inventor (2024 or newer), open MainAssembly.iam
- To view the assembly using other CAD packages, open MainAssembly.stp
- 2024-10-01 first online, published, posted
- AuTonomous intraLuminAl Surgery (grant code 813782) [more info...] European Commission
DATA
- 2,505 bytesMD5:
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README.md - 97,792 bytesMD5:
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Bearing pin.ipt - 129,024 bytesMD5:
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Cable pin.ipt - 158,720 bytesMD5:
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Casing-endpart.ipt - 112,128 bytesMD5:
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casing_reading_coupling.ipt - 1,197,056 bytesMD5:
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End knob.ipt - 102,400 bytesMD5:
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Fastening pin.ipt - 259,584 bytesMD5:
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firstMemoryRing.iam - 931,328 bytesMD5:
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Fixed shaft.ipt - 232,448 bytesMD5:
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hbeam subassembly_v0.2.iam - 113,664 bytesMD5:
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Inner shaft part 1.ipt - 113,152 bytesMD5:
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Inner shaft part 2.ipt - 120,832 bytesMD5:
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Inner shaft part 3.ipt - 128,512 bytesMD5:
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Inner shaft part 4.ipt - 1,984,512 bytesMD5:
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Input knob.ipt - 165,888 bytesMD5:
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ISO 1224-1 - 38 - 1 x 3 x 1.5.ipt - 190,976 bytesMD5:
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ISO 4762 - M3 x 16ISO.ipt - 245,248 bytesMD5:
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lastMemoryRing.iam - 1,698,816 bytesMD5:
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MainAssembly.iam - 12,875,800 bytesMD5:
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MainAssembly.stp - 1,250,304 bytesMD5:
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Memory ring - first.ipt - 11,711,488 bytesMD5:
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Memory ring - last.ipt - 1,272,320 bytesMD5:
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Memory ring.ipt - 222,720 bytesMD5:
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middleMemoryRing.iam - 228,352 bytesMD5:
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multiPartFlatSpringThin.ipt - 417,280 bytesMD5:
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multipartHbeamv0.2.ipt - 110,080 bytesMD5:
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Pin 1.ipt - 112,128 bytesMD5:
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pin input knob.ipt - 84,992 bytesMD5:
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pin through carcass.ipt - 244,224 bytesMD5:
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Pin_translational motion.ipt - 225,792 bytesMD5:
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pusher pin.ipt - 108,544 bytesMD5:
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Reading ring carcas part 1.ipt - 119,296 bytesMD5:
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Reading ring.ipt - 141,824 bytesMD5:
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readingRing.iam - 94,208 bytesMD5:
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Ring inbetween.ipt - 157,696 bytesMD5:
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ringSeparatorCarcass.iam - 977,408 bytesMD5:
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Rotating shaft.ipt - 291,840 bytesMD5:
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Translational motion _ front part(2).ipt - 338,944 bytesMD5:
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Translational motion part.ipt - 371,712 bytesMD5:
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Tube 1.ipt - 213,504 bytesMD5:
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Tube 2.ipt -
download all files (zip)
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