DocumentCode
3271484
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
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2582
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;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location
Sacramento, CA
Print_ISBN
0-8186-2163-X
Type
conf
DOI
10.1109/ROBOT.1991.132017
Filename
132017
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