Journal
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
Volume 7, Issue 1, Pages -Publisher
ASME
DOI: 10.1115/1.4029307
Keywords
articulated drive mechanism; NOTES; multifunctional robot; cable displacement
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Funding
- NIH [1 R21 EB015017-01A1]
- NSF [EEC-1263181]
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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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