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Keywords origami-based, medical support system, Flexible Shaft Buckling Abstract This paper presents the development of an origami-inspired support system (the OriGuide) that enables the insertion of flexible instruments using medical robots.
Abstract Origami has been extensively studied by engineers for its unique motions and ability to collapse to small volumes. Techniques have been studied for replicating origami-like folding motion in thick materials, but limited practical applications of these techniques have been demonstrated. Developable mechanisms are a new mechanism type that has a similar ability to collapse to a low profile.
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