Robotic endoscope motor module and gearing design

Author

Oliveira, Jillian M. ; Chen, Yi ; Hunter, Ian W.

Author_Institution

Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA, USA

fYear

2011

fDate

Aug. 30 2011-Sept. 3 2011

Firstpage

7380

Lastpage

7383

Abstract

Actuation of a robotic endoscope with increased torque output is presented. This paper will specifically focus on the motor module section of a robotic endoscope, which comprises of a pair of motors and gear reduction assemblies. The results for the endoscope and biopsy tool stiffness, as well as the stall force and force versus speed characteristics of the motor module assembly are shown. The scope stiffness was found to be 0.006 N/degree and additional stiffness of the biopsy tools were found to be in the range of 0.09 to 0.13 N/degree. Calculations for worm gearing and efficiency are discussed.

Keywords

endoscopes; gears; medical robotics; biopsy tool stiffness; gear reduction assemblies; motor module assembly; robotic endoscope motor module; scope stiffness; speed characteristics; stall force; torque output; worm gearing; Biopsy; Endoscopes; Force; Gears; Grippers; Robots; Torque; Biopsy; Endoscopes; Equipment Design; Robotics;

fLanguage

English

Publisher

ieee

Conference_Titel

Engineering in Medicine and Biology Society, EMBC, 2011 Annual International Conference of the IEEE

Conference_Location

Boston, MA

ISSN

1557-170X

Print_ISBN

978-1-4244-4121-1

Electronic_ISBN

1557-170X

Type

conf

DOI

10.1109/IEMBS.2011.6091659

Filename

6091659