Design and analysis of a novel articulated drive mechanism for multifunctional NOTES robot

Tao Shen; Carl A. Nelson; Kevin Warburton; Dmitry Oleynikov

doi:10.1115/1.4029307

Design and analysis of a novel articulated drive mechanism for multifunctional NOTES robot

Tao Shen
, Carl A. Nelson
, Kevin Warburton
, Dmitry Oleynikov

University of Nebraska-Lincoln
Boise State University
University of Nebraska Medical Center

Research output: Contribution to journal › Article › peer-review

19 Scopus citations

Abstract

This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

Original language	English
Article number	011004
Pages (from-to)	0110041-110048
Number of pages	8
Journal	Journal of Mechanisms and Robotics
Volume	7
Issue number	1
Early online date	31 Dec 2014
DOIs	https://doi.org/10.1115/1.4029307
State	Published - Feb 2015
Externally published	Yes

Keywords

medical robotics

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10.1115/1.4029307

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abstract = "This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.",

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Design and analysis of a novel articulated drive mechanism for multifunctional NOTES robot

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