Design of a unified active locomotion mechanism for a wireless laparoscopic camera system

Xiaolong Liu, Gregory Mancini, Jindong Tan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper proposes an active locomotion mechanism for a wireless laparoscopic surgical camera. The mechanism consists of a stator with 17 iron-core coils and a rotor with 3 cylindrical permanent magnets inside the camera. Our motor-free design unifies the camera's fixation and manipulation by adjusting input currents in the stator which generates 3D rotational magnetic fields, and decouples the camera's locomotion into pan motion and tilt motion. In the simulation studies, our proposed design can conservatively achieve 360° pan motion with a 22.5° resolution, and 127° ∼ 164° maximum tilting range for tilt motion which depends on tilt motion working modes and the distance between the rotor and the stator.

Original languageEnglish (US)
Title of host publicationIROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1294-1301
Number of pages8
ISBN (Electronic)9781479969340
DOIs
StatePublished - Oct 31 2014
Event2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014 - Chicago, United States
Duration: Sep 14 2014Sep 18 2014

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

Other2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
CountryUnited States
CityChicago
Period9/14/149/18/14

Fingerprint

Cameras
Stators
Rotors
Permanent magnets
Magnetic fields
Iron

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Liu, X., Mancini, G., & Tan, J. (2014). Design of a unified active locomotion mechanism for a wireless laparoscopic camera system. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 1294-1301). [6942724] (IEEE International Conference on Intelligent Robots and Systems). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2014.6942724

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

IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. p. 1294-1301 6942724 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Liu, X, Mancini, G & Tan, J 2014, Design of a unified active locomotion mechanism for a wireless laparoscopic camera system. in IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems., 6942724, IEEE International Conference on Intelligent Robots and Systems, Institute of Electrical and Electronics Engineers Inc., pp. 1294-1301, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014, Chicago, United States, 9/14/14. https://doi.org/10.1109/IROS.2014.6942724
Liu X, Mancini G, Tan J. Design of a unified active locomotion mechanism for a wireless laparoscopic camera system. In IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc. 2014. p. 1294-1301. 6942724. (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2014.6942724
Liu, Xiaolong ; Mancini, Gregory ; Tan, Jindong. / Design of a unified active locomotion mechanism for a wireless laparoscopic camera system. IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 1294-1301 (IEEE International Conference on Intelligent Robots and Systems).
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