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Technical Brief

A Novel Articulated Drive Mechanism for Multifunctional NOTES Robot1

[+] Author and Article Information
Tao Shen, Abolfazl Pourghodrat

Department of Mechanical and Materials Engineering,
University of Nebraska-Lincoln,
Lincoln, NE 68508

Kevin Warburton

Department of Mechanical and Biomedical Engineering,
Boise State University,
Boise, ID 83725

Carl Nelson

Department of Mechanical and Materials Engineering,
University of Nebraska-Lincoln,
Lincoln, NE 68508;
Department of Surgery,
University of Nebraska Medical Center,
Omaha, NE 68198

Dmitry Oleynikov

Department of Surgery,
University of Nebraska Medical Center,
Omaha, NE 68198

DOI: 10.1115/1.4027042Manuscript received February 21, 2014; final manuscript received March 3, 2014; published online July 21, 2014. Editor: Arthur G. Erdman.

J. Med. Devices 8(3), 030921 (Jul 21, 2014) (2 pages) Paper No: MED-14-1072; doi: 10.1115/1.4027042 History: Received February 21, 2014

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Copyright © 2014 by ASME
Topics: Robots , Cables , Linkages , Shapes , Motors
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References

Jagannath, S. B. , Kantsevoy, S. V. , Vaughn, C. A. , Chung, S. S. , Cotton, P. B. , Gostout, C. J. , Hawes, R. H. , Pasricha, P. J. , Scorpio, D. G. , Magee, C. A. , Pipitone, L. J. , and Kalloo, A. N. , “Peroral Transgastric Endoscopic Ligation of Fallopian Tubes With Long-Term Survival in a Porcine Model,” Gastrointest. Endosc., 61(3), pp. 449–453. [CrossRef] [PubMed]
Swantrom, L. L. , Khajanchee, Y. , and Abbas, M. A. , 2008, “Natural Orifice Transluminal Endoscopic Surgery: The Future of Gastrointestinal Surgery,” Permanente J., 12(2), pp. 42–47.
Bardaro, S. J. , and Swanstrom, L. , 2006, “Development of Advanced Endoscopes for Natural Orifice Translumenal Endoscopic Surgery (NOTES),” Minim. Invasive Therapy, 15(6), pp. 378–383. [CrossRef]
Seow, C. M. , Chin, W. J. , Nelson, C. A. , Nakamura, A. , Farritor, S. M. , and Oleynikov, D. , 2013, “Articulated Manipulator With Multiple Instruments for Natural Orifice Transluminal Endoscopic Surgery,” ASME J. Med. Devices, 7(4), p. 041004. [CrossRef]

Figures

Grahic Jump Location
Fig. 1

Transvaginal NOTES with robotic platform

Grahic Jump Location
Fig. 2

Snake-like linkage

Grahic Jump Location
Fig. 3

(a) Single link; (b) two links of the distal section

Grahic Jump Location
Fig. 4

Cable distribution in the snake-like linkage

Grahic Jump Location
Fig. 5

Motor housing design

Grahic Jump Location
Fig. 6

(a) “S” shape in the horizontal plane; (b) “S” shape in the vertical plane

Grahic Jump Location
Fig. 7

(a) Arch shape in the horizontal plane; (b) arch shape in the vertical plane

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