CAD data underlying the publication: The Cryptex shape memory mechanism: an antagonistic mechanical controller for follow-the-leader surgical instruments

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.<strong>Basic function</strong>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.<br>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.<br><strong>Purpose of the design</strong>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.<br><strong>Description of the Dataset</strong>The Dataset contains the Autodesk Inventor CAD files, as well as an open STEP file which can be viewed with most CAD programs.<br>To view the assembly using Autodesk Inventor (2024 or newer), open MainAssembly.iamTo view the assembly using other CAD packages, open MainAssembly.stp

本仓库包含用于制造Cryptex可编程记忆机构（Cryptex Programmable Memory Mechanism，CPMM）原型的CAD数据。该Cryptex可编程记忆机构是一款全机械式肌腱驱动柔性导管随动控制器。
**基本功能**
该系统包含一系列可在花键轴上滑动的记忆环。通过旋转轴体，可为各记忆环选定角向位置。另一根固定轴与第一根轴轴向对置。记忆环可逐一平移至固定轴上，且每个记忆环的位置均可任意设定，从而允许用户规划所需遵循的运动路径。
固定轴同轴配置有15个检测环。当记忆环平移至固定轴时，会依次经过检测环。记忆环与检测环之间通过柔性H形梁连接，该梁位于两组环之间的环形空间内。记忆环外表面与检测环内表面的轴承与该H形梁啮合。
由于各记忆环的位置各不相同，其轴承会将H形梁塑造成类似凸轮轨迹的结构。当记忆环穿过检测环时，检测环会将该凸轮轨迹的形状转化为肌腱位移，可连接至可操纵器械轴。

本最终原型总长约155 mm，外径60.5 mm，重量约780克。该机构包含8个记忆环与15个检测环，可实现15个末端节段的转向控制。

**设计初衷**
本研究的目标是通过将对抗式肌腱控制集成至记忆机构中，设计一款易于实现的肌腱驱动随动装置用形状记忆机构。

**数据集说明**
本数据集包含Autodesk Inventor CAD文件，以及可在多数CAD软件中查看的开放格式STEP文件。
若使用Autodesk Inventor（2024及更高版本）查看装配体，请打开MainAssembly.iam文件。
若使用其他CAD软件查看装配体，请打开MainAssembly.stp文件