Title :
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
fDate :
Aug. 30 2011-Sept. 3 2011
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;
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.2011.6091659
