| contributor author | Shen, Tao | |
| contributor author | Nelson, Carl A. | |
| contributor author | Warburton, Kevin | |
| contributor author | Oleynikov, Dmitry | |
| date accessioned | 2017-05-09T01:21:17Z | |
| date available | 2017-05-09T01:21:17Z | |
| date issued | 2015 | |
| identifier issn | 1942-4302 | |
| identifier other | jmr_007_01_011004.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/158937 | |
| description 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. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot | |
| type | Journal Paper | |
| journal volume | 7 | |
| journal issue | 1 | |
| journal title | Journal of Mechanisms and Robotics | |
| identifier doi | 10.1115/1.4029307 | |
| journal fristpage | 11004 | |
| journal lastpage | 11004 | |
| identifier eissn | 1942-4310 | |
| tree | Journal of Mechanisms and Robotics:;2015:;volume( 007 ):;issue: 001 | |
| contenttype | Fulltext | |