Development of the mathematical model and mechanical structure of snake robotic endoscope for nasal surgery

Pao Yue-kong Library Electronic Theses Database

Development of the mathematical model and mechanical structure of snake robotic endoscope for nasal surgery

 

Author: Zhang, Dingyu
Title: Development of the mathematical model and mechanical structure of snake robotic endoscope for nasal surgery
Degree: M.Sc.
Year: 2010
Subject: Hong Kong Polytechnic University -- Dissertations
Nose -- Endoscopic surgery
Surgical robots
Department: Dept. of Health Technology and Informatics
Pages: x, 93 leaves : ill. ; 30 cm.
InnoPac Record: http://library.polyu.edu.hk/record=b2352684
URI: http://theses.lib.polyu.edu.hk/handle/200/5619
Abstract: This thesis presents an effort to develop snake robotic endoscope for nasal surgery, which provides availability in whole body flexibly endoscipic instrument. The mathematical model is worked out to describe the workspace and general plane motion of snake robot in two dimension space. One perticular phenomeon of extra space occupying during general plane motion of snake robot is discussed based on mathematical description, and adapted to confined environment simulating the work performance with diverse geometrical specification of snake robot in nasal cavity. Additionally, relationship between the occupied space and geometrical specification is investigated based on the quantity of length diameter ratio. Simulative experiment is conducted based on three sets of geometrical specifications, one is final selected by its performance, which shows no significant collision during three surgical tasks, and relatively less modules needed. The result of the experiment guides our mechanical design. Micro actuators are the another topic of this thesis. In order to work out the appropriate actuator, micro electronic solenoids are designed and fabricated attempting to be used in snake robotic endoscopic instrument, and proven to be unsuitable for snake robot because of the lack of force. Furthermore, SQL-RV-1.8-6-12 SQUIGGLE® linear piezo motor is introduced later on in the thesis. In addition to the final mechanical structure is consisted by piezo motor, four other parts of the body are designed assembling with the linear piezo motor by giving the 2D and 3D mechanical CAD drawing. The mechanical structure of snake robot is with the final dimension: length 15.89mm, hight 4.89mm, width 3.25mm, and rotative range 60 degrees. The designed snake robot is validated, no significant collision is detected.

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