Disposable endoscope tip actuation design and robotic platform.
Identifieur interne : 001779 ( Ncbi/Merge ); précédent : 001778; suivant : 001780Disposable endoscope tip actuation design and robotic platform.
Auteurs : Yi Chen [États-Unis] ; Shigehiko Tanaka ; Ian W. HunterSource :
- Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference [ 1557-170X ] ; 2010.
English descriptors
- KwdEn :
- MESH :
- instrumentation : Endoscopy, Fluoroscopy, Spectrum Analysis.
- methods : Biomedical Engineering, Endoscopy.
- Algorithms, Endoscopes, Equipment Design, Feedback, Humans, Robotics, Software, Time Factors, User-Computer Interface.
Abstract
A disposable endoscopic platform with actuation motors inside the body of the endoscope is presented. This platform can enable new medical devices for diagnosis and for minimally invasive surgeries. This paper addresses mechanical and safety issues with existing endoscope technologies by incorporating disposability, safety modules, and lower cable forces. In order to produce path-independent cable forces, motors are incorporated in the body of the endoscope near the bending tip. Results for tip forces are shown accompanied by an analytical model describing the scaling laws for this type of robotic architecture. The system under development will provide a platform for research into haptic control and perceptual feedback.
DOI: 10.1109/IEMBS.2010.5627677
PubMed: 21097015
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pubmed:21097015Le document en format XML
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