Title :
A flexible, tendon-controlled device for endoscopy
Author :
Sturges, Robert H., Jr. ; Laowattana, Schitt
Author_Institution :
Dept. of Mech. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
The authors introduce the slide motion scheme, which provides smooth movement of the endoscope stem with only three continuously controlled degrees of freedom. Such movement is accomplished by implementing a series of relative motions between an outer tube and intermittently stiff spines insides. The strength and stability of the locking mechanism, which exhibits the property of intermittent stiffness, is also discussed
Keywords :
biomedical equipment; patient diagnosis; robots; biomedical equipment; endoscope stem; endoscopy; flexible tendon-controlled device; locking mechanism; patient diagnosis; robots; slide motion scheme; smooth movement; stability; strength; Colon; Endoscopes; Glass; Lenses; Optical fiber sensors; Optical fibers; Optical refraction; Optical sensors; Optical variables control; Telescopes;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.132017
