Title :
Sensor architecture for a two-actuator robotic endoscope tip
Author :
Chen, Yi ; Oliveira, Jillian M. ; Hunter, Ian W.
Author_Institution :
Eng. Dept., Massachusetts Inst. of Technol., Cambridge, MA, USA
fDate :
Aug. 30 2011-Sept. 3 2011
Abstract :
An angular positioning methodology for a two-actuator robotic endoscope tip is presented. The actuators used to position the tip of the endoscope and tools in the tool channel are miniature rotary motors configured to pull mono-filament cables. The sensors used in this system are a camera at the tip and two three-axis gyroscopes. This paper discusses the electrical hardware and communications architecture of the system. A model to account for the dynamic nonlinearities in the system is introduced, experimental results are presented, and control schemes necessary to position the tip is outlined. It was found that the maximum rotational speed of the tip is 400 degrees per second and that the windup delay is around 50 ms which allows for fast angular positioning.
Keywords :
actuators; cameras; endoscopes; image sensors; medical robotics; micromotors; optical sensors; angular positioning methodology; camera; communications architecture; dynamic nonlinearity; electrical hardware; fast angular positioning; monofilament cable; rotary motor; rotational speed; sensor architecture; three axis gyroscope; tip position; two actuator robotic endoscope tip; windup delay; Cameras; Endoscopes; Gyroscopes; Robot sensing systems; Synchronous motors; Turning; Computer Simulation; Electric Power Supplies; Electronics; Endoscopes; Equipment Design; Models, Theoretical; Robotics;
Conference_Titel :
Engineering in Medicine and Biology Society, EMBC, 2011 Annual International Conference of the IEEE
Conference_Location :
Boston, MA
Print_ISBN :
978-1-4244-4121-1
Electronic_ISBN :
1557-170X
DOI :
10.1109/IEMBS.2011.6092057
