An Industrial Steerable Needle for Inspecting Extremely Confined Spaces in Nuclear Facilities - 18316
- Los Alamos National Laboratory (United States)
We present a novel, compliant mechanism inspired by steerable needles for endoscopic surgery that provides the capability to navigate extremely confined spaces for the purpose of infrastructure inspection. Extremely confined spaces are commonly encountered during infrastructure inspection of nuclear facilities. These spaces can include pipes and ventilation ducts. Often these infrastructure features go uninspected simply because there is no viable way to access their interior. In addition, it is not uncommon for extremely confined spaces to be laid-out in a spider-web fashion that must be selectively navigated in order to execute an inspection. Recently, millimeter-scale imagers have become commercially available. These imagers are small enough to fit inside an extremely confined space, but there is currently no means to bring the imager to the portion of the structure that must be inspected. In this work this problem is addressed by taking inspiration from the field of steerable needles used in endoscopic surgery. Steerable needles are long flexible shafts that are capable of being directed through the human body using control forces applied external to the body. Unfortunately, steerable needles cannot be directly applied to the problem of navigating maze-like arrangements of extremely confined spaces. Traditional steerable needles must operate within a solid medium that can be penetrated in order to be steered so they are not directly applicable to navigating extremely confined spaces. However surgical steerable needles do suggest an approach to the problem. Steerable needles are typically made from super-elastic nitinol. This material has the property that it can experience high strain without yielding. Furthermore, superelastic nitinol is stiff enough that it is possible to push the tube down a long, maze-like arrangement of a confined space without buckling. The stiffness properties of nitinol combined with its high yield strain makes it an attractive material for navigating a tube through a maze-like arrangement of extremely confined spaces. The ability to selectively navigate extremely confined spaces opens up new possibilities to use emerging miniature imaging technology for infrastructure inspection. (authors)
- Research Organization:
- WM Symposia, Inc., PO Box 27646, 85285-7646 Tempe, AZ (United States)
- OSTI ID:
- 22975458
- Report Number(s):
- INIS-US-20-WM-18316; TRN: US21V0272015500
- Resource Relation:
- Conference: WM2018: 44. Annual Waste Management Conference, Phoenix, AZ (United States), 18-22 Mar 2018; Other Information: Country of input: France; 5 refs.; Available online at: https://www.xcdsystem.com/wmsym/2018/index.html
- Country of Publication:
- United States
- Language:
- English
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