A Flexible, Tendon-Controlled Device for Endoscopy

The authors introduce the slide motion scheme, which provides smooth movement of the endoscope stem with only three continuously controlled degrees of freedom. Such movement is accomplished by implementing a series of relative motions between an outer tube and intermittently stiff spines insides. The strength and stability of the locking mechanism, which exhibits the property of intermittent stiffness, is also discussed.<<ETX>>

[1]  Shigeki Sugano,et al.  WABOT-2: Autonomous robot with dexterous finger-arm--Finger-arm coordination control in keyboard performance , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[2]  R. Kaplow,et al.  A vena cava filter using thermal shape memory alloy. Experimental aspects. , 1977, Radiology.

[3]  Masakatsu G. Fujie,et al.  HITACHI'S ROBOT HAND. , 1984 .

[4]  K. L. Moore,et al.  Clinically Oriented Anatomy , 1985 .

[5]  Masao Obama,et al.  Multijoint Inspection Robot , 1983, IEEE Transactions on Industrial Electronics.

[6]  Koji Ikuta,et al.  Shape memory alloy servo actuator system with electric resistance feedback and application for active endoscope , 1988, Proceedings. 1988 IEEE International Conference on Robotics and Automation.

[7]  Yasushi Wakahara,et al.  A computer-aided manipulation system for a multijoint inspection robot , 1984 .

[8]  J. Kenneth Salisbury,et al.  Articulated Hands , 1982 .

[9]  K. Asano.  Control system for a multi-joint inspection robot , 1984 .

[10]  Donald Lee Pieper.  The kinematics of manipulators under computer control , 1968 .

[11]  Charles A. Klein,et al.  Review of pseudoinverse control for use with kinematically redundant manipulators , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[12]  Stephen C. Jacobsen,et al.  The UTAH/M.I.T. Dextrous Hand: Work in Progress , 1984 .

[13]  R A Miller,et al.  Endoscopic instrumentation: evolution, physical principles and clinical aspects. , 1986, British medical bulletin.