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

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

18 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 (US)
Article number	011004
Journal	Journal of Mechanisms and Robotics
Volume	7
Issue number	1
DOIs	https://doi.org/10.1115/1.4029307
State	Published - 2015

Keywords

Articulated drive mechanism
Cable displacement
Multifunctional robot
NOTES

ASJC Scopus subject areas

Mechanical Engineering

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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.",

keywords = "Articulated drive mechanism, Cable displacement, Multifunctional robot, NOTES",

author = "Tao Shen and Nelson, {Carl A.} and Kevin Warburton and Dmitry Oleynikov",

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AU - Warburton, Kevin

AU - Oleynikov, Dmitry

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AB - 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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KW - Cable displacement

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

Abstract

Keywords

ASJC Scopus subject areas

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