Modeling of a compliant joint in a Magnetic Levitation System for an endoscopic camera

Modeling of a compliant joint in a Magnetic Levitation System for an endoscopic camera

Simi, M.
Tolou, N.
Valdastri, P.
Herder, J.L.
Menciassi, A.
Dario, P.

Mechanical, Maritime and Materials Engineering

Biomechanical Engineering

2012-01-18

A novel compliant Magnetic Levitation System (MLS) for a wired miniature surgical camera robot was designed, modeled and fabricated. The robot is composed of two main parts, head and tail, linked by a compliant beam. The tail module embeds two magnets for anchoring and manual rough translation. The head module incorporates two motorized donut-shaped magnets and a miniaturized vision system at the tip. The compliant MLS can exploit the static external magnetic field to induce a smooth bending of the robotic head (0–80º), guaranteeing a wide span tilt motion of the point of view. A nonlinear mathematical model for compliant beam was developed and solved analytically in order to describe and predict the trajectory behaviour of the system for different structural parameters. The entire device is 95mm long and 12.7mm in diameter. Use of such a robot in single port or standard multiport laparoscopy could enable a reduction of the number or size of ancillary trocars, or increase the number of working devices that can be deployed, thus paving the way for multiple view point laparoscopy.

OA-Fund TU Delft

http://resolver.tudelft.nl/uuid:fd4b760b-ce38-49e0-9714-48824e6945f8

https://doi.org/10.5194/ms-3-5-2012

Copernicus Publications

2191-9151

http://www.mech-sci.net/3/5/2012/

Mechanical Sciences, 3 (1), 2012

Institutional Repository

journal article

(c) 2012 The Author(s)
CC Attribution 3.0 License