Research Papers

Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot

[+] Author and Article Information
Tao Shen

Department of Mechanical
and Materials Engineering,
University of Nebraska-Lincoln,
W342 Nebraska Hall,
Lincoln, NE 68588-0526
e-mail: Shentao20100429@gmail.com

Carl A. Nelson

Department of Mechanical
and Materials Engineering,
University of Nebraska-Lincoln,
W342 Nebraska Hall,
Lincoln, NE 68588-0526
e-mail: cnelson5@unl.edu

Kevin Warburton

Department of Mechanical
and Biomedical Engineering,
Boise State University,
1910 University Drive, ENGR 201C,
Boise, ID 83725-2085
e-mail: kevinwarburton@u.boisestate.edu

Dmitry Oleynikov

Department of Surgery,
University of Nebraska Medical Center,
985126 Nebraska Medical Center,
Omaha, NE 68198-5126
e-mail: doleynik@unmc.edu

1Corresponding author.

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received September 25, 2014; final manuscript received December 1, 2014; published online December 31, 2014. Assoc. Editor: Thomas Sugar.

J. Mechanisms Robotics 7(1), 011004 (Feb 01, 2015) (8 pages) Paper No: JMR-14-1258; doi: 10.1115/1.4029307 History: Received September 25, 2014; Revised December 01, 2014; Online December 31, 2014

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.

Copyright © 2015 by ASME
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Fig. 1

Model and prototype of the robotic platform

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Fig. 2

(a) Insertion configuration and (b) removal configuration

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Fig. 3

Prototype of the connector

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Fig. 4

Details of the connector

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Fig. 6

(a) Single link and (b) two links of the distal section

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Fig. 7

Cable distribution in the snakelike linkage

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Fig. 8

Motor housing design

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Fig. 9

Illustration of motor housing

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Fig. 10

Reference frames of DH convention

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Fig. 13

Schematic diagram for cable displacement

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Fig. 14

Error versus joint variable

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Fig. 15

Benchtop testing setup

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Fig. 16

(a) “S” shape in the horizontal plane and (b) “S” shape in the vertical plane

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Fig. 17

(a) Target reaching in horizontal plane and (b) target reaching in vertical plane

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Connecting force measurement




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