Disposable endoscope tip actuation design and robotic platform
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A disposable endoscopic platform with actuation motors inside the body of the endoscope is presented. This platform can enable new medical devices for diagnosis and for minimally invasive surgeries. This paper addresses mechanical and safety issues with existing endoscope technologies by incorporating disposability, safety modules, and lower cable forces. In order to produce path-independent cable forces, motors are incorporated in the body of the endoscope near the bending tip. Results for tip forces are shown accompanied by an analytical model describing the scaling laws for this type of robotic architecture. The system under development will provide a platform for research into haptic control and perceptual feedback.
Date issued
2010-08Department
Massachusetts Institute of Technology. Department of Mechanical EngineeringJournal
Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2010
Publisher
Institute of Electrical and Electronics Engineers
Citation
Yi Chen, S Tanaka, and I W Hunter. "Disposable Endoscope Tip Actuation Design and Robotic Platform." 32nd Annual International Conference of the IEEE EMBS, Buenos Aires, Argentina, August 31-September 4, 2010, Pp. 2279–2282. IEEE. © Copyright 2010 IEEE.
Version: Final published version
Other identifiers
INSPEC Accession Number: 11660502
ISBN
978-1-4244-4123-5
ISSN
1094-687X
1558-4615