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

[+] Author Affiliations
Tao Shen, Carl A. Nelson

University of Nebraska-Lincoln, Lincoln, NE

Kevin Warburton

Boise State University, Boise, ID

Dmitry Oleynikov

University of Nebraska Medical Center, Omaha, NE

Paper No. DETC2014-34369, pp. V05AT08A003; 8 pages
  • ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 5A: 38th Mechanisms and Robotics Conference
  • Buffalo, New York, USA, August 17–20, 2014
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4636-0
  • Copyright © 2014 by ASME


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 an articulated snake-like linkage, motor housing and an arm connector. The ADM contains two independent curvature sections which can articulate into complex S shapes for improved access to surgical targets. A connector between the bimanual arms and the ADM provides an efficient and convenient way to assemble and disassemble the system as necessary for insertion and removal of the robot. Four DC motors guide four pairs of cables with linear actuation 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 © 2014 by ASME
Topics: Robots , Design



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