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.
Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot
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.
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Shen, T., Nelson, C. A., Warburton, K., and Oleynikov, D. (February 1, 2015). "Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot." ASME. J. Mechanisms Robotics. February 2015; 7(1): 011004. https://doi.org/10.1115/1.4029307
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