title: Disposable endoscope tip actuation design and robotic platform.
abstract: A disposable endoscopic platform with actuation motors inside the body of the endoscope is presented. This platform can enable new medical devices for diagnosis and for minimally invasive surgeries. This paper addresses mechanical and safety issues with existing endoscope technologies by incorporating disposability, safety modules, and lower cable forces. In order to produce path-independent cable forces, motors are incorporated in the body of the endoscope near the bending tip. Results for tip forces are shown accompanied by an analytical model describing the scaling laws for this type of robotic architecture. The system under development will provide a platform for research into haptic control and perceptual feedback.
authors.affiliation: Department of Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, MA 02139, USA. yichen@mit.edu
authors.forename: Yi
authors.initials: Y
authors.lastname: Chen
authors.forename: Shigehiko
authors.initials: S
authors.lastname: Tanaka
authors.forename: Ian W
authors.initials: IW
authors.lastname: Hunter
mesh_terms: D000465:Algorithms; D001698:Biomedical Engineering / Q000379:methods; D019723:Endoscopes; D004724:Endoscopy / Q000295:instrumentation* / Q000379:methods*; D004867:Equipment Design; D005246:Feedback; D005471:Fluoroscopy / Q000295:instrumentation; D006801:Humans; D012371:Robotics; D012984:Software; D013057:Spectrum Analysis / Q000295:instrumentation; D013997:Time Factors; D014584:User-Computer Interface