Multi-link robotic endoscope with haptic feedback

Abstract

This thesis outlines the design of a multi-link continuum robotic endoscope and the design of a single-axis haptic controller for navigation. The multi-link design presented in this thesis is modular such that the length of the endoscope can be easily modified for different applications. The final prototype contains 7 endoscope units, has a mass of 157 g, is 0.91 m long and 15 mm in diameter. Each endoscope unit contributes 2 degrees of freedom to the robot; altogether, the current design has 14 degrees of freedom and is capable of navigating through convoluted paths while minimizing physical contact with the surrounding walls. The single-axis haptic controller designed to drive the robot consists of a user input interface and a motor feedback system. The haptic controller has good command following ability and it is able to provide force feedback of up to 4.6 N with a 5 V input to the user during operation.