Design of a unified active locomotion mechanism for a capsule-shaped laparoscopic camera system

Xiaolong Liu, Gregory Mancini, Jindong Tan

Research output: Contribution to journalConference article

11 Citations (Scopus)

Abstract

This paper proposes a unified active locomotion mechanism for a capsule-shaped laparoscopic surgical camera system. The proposed design integrates the camera's fixation and manipulation together by adjusting a 3D rotational magnetic field from a stator outside a patient's body. The stator generates both torque to rotate the inside rotor dome in all three dimensions, and force to serve as an anchoring system that keeps the camera steady during a surgical procedure. This design eliminates the need for an articulated design and therefore the integrated motors to significantly reduce the size of the camera. A set of stator and rotor designs are developed and evaluated by simulations and experiments.

Original languageEnglish (US)
Article number6907200
Pages (from-to)2449-2456
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
DOIs
StatePublished - Sep 22 2014
Event2014 IEEE International Conference on Robotics and Automation, ICRA 2014 - Hong Kong, China
Duration: May 31 2014Jun 7 2014

Fingerprint

Cameras
Stators
Rotors
Domes
Torque
Magnetic fields
Experiments

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

Cite this

Design of a unified active locomotion mechanism for a capsule-shaped laparoscopic camera system. / Liu, Xiaolong; Mancini, Gregory; Tan, Jindong.

In: Proceedings - IEEE International Conference on Robotics and Automation, 22.09.2014, p. 2449-2456.

Research output: Contribution to journalConference article

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