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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound

Published on: January 7, 2019

Robotic endoscope motor module and gearing design.

Jillian M Oliveira¹, Yi Chen, Ian W Hunter

¹Department of Mechanical Engineering at Massachusetts Institute of Technology, Cambridge, MA 02139, USA. jilliano@mit.edu

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|January 19, 2012

Summary

This study presents a robotic endoscope motor module with enhanced torque output. Key findings include endoscope stiffness of 0.006 N/degree and biopsy tool stiffness between 0.09-0.13 N/degree.

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Area of Science:

Robotics
Medical Devices
Mechanical Engineering

Background:

Robotic endoscopes require precise actuation for minimally invasive procedures.
Increasing torque output is crucial for enhanced functionality and control.

Purpose of the Study:

To detail the design and performance of a robotic endoscope motor module with increased torque.
To analyze the stiffness and force-speed characteristics of the endoscope and its biopsy tools.

Main Methods:

Focus on the motor module, including motors and gear reduction assemblies.
Experimental evaluation of endoscope and biopsy tool stiffness.
Measurement of stall force and force-speed characteristics of the motor module.
Analysis of worm gearing and efficiency calculations.

Main Results:

Endoscope stiffness measured at 0.006 N/degree.
Biopsy tool stiffness ranged from 0.09 to 0.13 N/degree.
Stall force and force-speed data were characterized for the motor module assembly.

Conclusions:

The developed motor module provides increased torque output for robotic endoscopes.
The stiffness and force characteristics are quantified, informing design and application.
Worm gearing principles and efficiency are discussed in the context of the system.