title: Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot.
abstract: 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.
authors.affiliation: Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln , W342 Nebraska Hall , Lincoln, NE 68588-0526 e-mail:  Shentao20100429@gmail.com.
authors.forename: Tao
authors.initials: T
authors.lastname: Shen
authors.affiliation: Mem. ASME Department of Mechanical and Materials Engineering, University of Nebraska-Lincoln , W342 Nebraska Hall , Lincoln, NE 68588-0526 e-mail:  cnelson5@unl.edu.
authors.forename: Carl A
authors.initials: CA
authors.lastname: Nelson
authors.affiliation: Department of Mechanical and Biomedical Engineering, Boise State University , 1910 University Drive, ENGR 201C , Boise, ID 83725-2085 e-mail:  kevinwarburton@u.boisestate.edu.
authors.forename: Kevin
authors.initials: K
authors.lastname: Warburton
authors.affiliation: Department of Surgery, University of Nebraska Medical Center , 985126 Nebraska Medical Center , Omaha, NE 68198-5126 e-mail:  doleynik@unmc.edu.
authors.forename: Dmitry
authors.initials: D
authors.lastname: Oleynikov
keywords: NOTES; articulated drive mechanism; cable displacement; multifunctional robot
references.citation: J Mech Robot. 2015 Feb;7(1):0110041-110048
references.pmid: 25821556
references.citation: Gastrointest Endosc. 2004 Jul;60(1):114-7
references.pmid: 15229442
references.citation: Perm J. 2008 Spring;12(2):42-7
references.pmid: 21364811
references.citation: Minim Invasive Surg. 2012;2012:189296
references.pmid: 22720153
references.citation: Stud Health Technol Inform. 2004;98:34-6
references.pmid: 15544237
references.citation: Conf Proc IEEE Eng Med Biol Soc. 2006;2006(1642343):4167-4172
references.pmid: 20725532
references.citation: Semin Perinatol. 2004 Jun;28(3):212-20
references.pmid: 15283100
references.citation: Minim Invasive Ther Allied Technol. 2006;15(6):378-83
references.pmid: 17190663
references.citation: Gastrointest Endosc Clin N Am. 2008 Apr;18(2):361-70; x
references.pmid: 18381176
references.citation: Surg Endosc. 2009 Feb;23(2):260-6
references.pmid: 19057960