DocumentCode
2342789
Title
Design of a spring backbone micro endoscope
Author
Choi, Dong-Geol ; Yi, Byung-Ju ; Kim, Whee-Kuk
Author_Institution
Hanyang Univ., Seoul
fYear
2007
fDate
Oct. 29 2007-Nov. 2 2007
Firstpage
1815
Lastpage
1821
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.2007.4399541
Filename
4399541
Link To Document