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Design and Implementation of a Bespoke Robotic Manipulator for Extra-corporeal Ultrasound
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Sensor architecture for a two-actuator robotic endoscope tip.

Yi Chen1, Jillian M Oliveira, Ian W Hunter

  • 1MechanicalEngineering Department, Massachusetts Institute of Technology, Cambridge, MA, USA. yichen@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
PubMed
Summary
This summary is machine-generated.

This study introduces a robotic endoscope tip positioning system using miniature rotary motors and advanced sensors. The system achieves fast angular positioning with a maximum speed of 400 degrees per second and a 50 ms delay.

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Area of Science:

  • Robotics
  • Medical Devices
  • Control Systems

Background:

  • Endoscopic procedures require precise instrument manipulation.
  • Existing endoscopic tools have limitations in dexterity and control.
  • Minimally invasive surgery demands advanced robotic solutions.

Purpose of the Study:

  • To present an angular positioning methodology for a two-actuator robotic endoscope tip.
  • To detail the hardware, communication architecture, and control schemes for the system.
  • To evaluate the system's performance in terms of speed and delay.

Main Methods:

  • Utilized miniature rotary motors to pull mono-filament cables for tip actuation.
  • Integrated a tip-mounted camera and two three-axis gyroscopes for sensing.
  • Developed a model for dynamic nonlinearities and implemented control schemes.
  • Presented experimental results to validate the methodology.

Main Results:

  • Achieved a maximum rotational speed of 400 degrees per second for the endoscope tip.
  • Measured a windup delay of approximately 50 milliseconds.
  • Demonstrated the feasibility of fast and precise angular positioning.

Conclusions:

  • The proposed methodology enables rapid and accurate angular positioning of robotic endoscope tips.
  • The system's design and control strategies are effective for endoscopic applications.
  • This advancement holds potential for enhancing surgical precision and capabilities.