Milli Robotics for Endoscopy

J. Wendlandt

EECS Department
University of California, Berkeley
Technical Report No. UCB/ERL M94/7
February 1994

http://www2.eecs.berkeley.edu/Pubs/TechRpts/1994/ERL-94-7.pdf

Endoscopy is a minimally invasive surgical technique used to examine and operate in the gastrointestinal tract. Current instruments lack fine motion control and dexterity. This report proposes solutions to remedy the problem by designing new equipment or modifying existing equipment. A background in endoscopy is presented along with an explanation of the problems experienced by surgeons. The report then describes concept design solutions to the problems described. A tendon driven manipulator is described in detail. The kinematics and dynamics are explored as well as the control of the device. This tendon driven device differs from many tendon driven devices in that the number of degrees of freedom equals the number of tendons. Simulation results for the manipulator are given as well a brief description of the prototype.

BibTeX citation:

@techreport{Wendlandt:M94/7,
    Author = {Wendlandt, J.},
    Title = {Milli Robotics for Endoscopy},
    Institution = {EECS Department, University of California, Berkeley},
    Year = {1994},
    Month = {Feb},
    URL = {http://www2.eecs.berkeley.edu/Pubs/TechRpts/1994/2502.html},
    Number = {UCB/ERL M94/7},
    Abstract = {Endoscopy is a minimally invasive surgical technique used to examine and operate in the gastrointestinal tract. Current instruments lack fine motion control and dexterity. This report proposes solutions to remedy the problem by designing new equipment or modifying existing equipment. A background in endoscopy is presented along with an explanation of the problems experienced by surgeons. The report then describes concept design solutions to the problems described. A tendon driven manipulator is described in detail. The kinematics and dynamics are explored as well as the control of the device. This tendon driven device differs from many tendon driven devices in that the number of degrees of freedom equals the number of tendons. Simulation results for the manipulator are given as well a brief description of the prototype.}
}

EndNote citation:

%0 Report
%A Wendlandt, J.
%T Milli Robotics for Endoscopy
%I EECS Department, University of California, Berkeley
%D 1994
%@ UCB/ERL M94/7
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/1994/2502.html
%F Wendlandt:M94/7