Multi-link robotic endoscope with haptic feedback

This thesis outlines the design of a multi-link continuum robotic endoscope and the design of a single-axis haptic controller for navigation. The multi-link design presented in this thesis is modular such that the length of the endoscope can be easily modified for different applications. The final prototype contains 7 endoscope units, has a mass of 157 g, is 0.91 m long and 15 mm in diameter. Each endoscope unit contributes 2 degrees of freedom to the robot; altogether, the current design has 14 degrees of freedom and is capable of navigating through convoluted paths while minimizing physical contact with the surrounding walls. The single-axis haptic controller designed to drive the robot consists of a user input interface and a motor feedback system. The haptic controller has good command following ability and it is able to provide force feedback of up to 4.6 N with a 5 V input to the user during operation.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2014

Author dc:creator

• Liang, Jiahui, S.B. Massachusetts Institute of Technology

Advisor dc:contributor.advisor

• Ian W. Hunter.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/92678

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/92678