Title :
Design of a spring backbone micro endoscope
Author :
Choi, Dong-Geol ; Yi, Byung-Ju ; Kim, Whee-Kuk
Author_Institution :
Hanyang Univ., Seoul
fDate :
Oct. 29 2007-Nov. 2 2007
Abstract :
This work introduces a modified endoscope structure that employs a spring as its backbone. This design allows backdrivability of the mechanism due to the flexibility of the spring structure. Furthermore, the full 3 DOF motion including compression and two rotational motions can be realized. The geometric analysis, kinematic modeling, and actuator sizing for this device are conducted. Both simulation and experiment have been performed to show the effectiveness of this device.
Keywords :
actuators; endoscopes; medical robotics; actuator sizing; geometric analysis; kinematic modeling; rotational motions; spring backbone micro endoscope; spring structure; Endoscopes; Fingers; Kinematics; Minimally invasive surgery; Needles; Robots; Shape control; Spine; Springs; Wires;
Conference_Titel :
Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
978-1-4244-0912-9
Electronic_ISBN :
978-1-4244-0912-9
DOI :
10.1109/IROS.2007.4399541
