me 6105 endoscope group ricardo molinos tyler randolph muhammad salman
TRANSCRIPT
ME 6105 Endoscope Group
Ricardo Molinos
Tyler Randolph
Muhammad Salman
2
Endoscope Overview
Flexible Tip
Flexible Shaft
Eye Piece
Air, Light, Water Supply Shaft
Endoscope Curling
3
Application Domain
• Flexible Endoscope• Why Our Design is Different
- Independent Links• Design Applications: Medical, Optical Inspection• Video
4
Interesting Aspects
• Solution Independent Design
-Cables & Pulleys
-Electromagnets
-Miniature Motors
• Energy Modeled
5
Interesting Aspects
• Overall Endoscope
6
Interesting Aspects
• Individual Link
HALF-LINK
HALF-LINK
REVOLUTE JOINT
7
Interesting Aspects
• Energy Plot
Req
uire
d T
orqu
e [N
·m]
Time [Sec]
8
Obstacles
• Determining Colon Path
• Determining Movement Commands
• Finding endoscope link properties
9
Overcoming Obstacles
• Determining Colon Path
-Assumed Simplified Path
• Determining Movement Commands
-Created a Combined Time Table Array
-Flexible Tip only needed to be controlled
• Finding endoscope link properties
-Mass, Size, Friction, etc.
10
Lessons Learned: Tips &Tricks
• Always make sure you know what is already available. Don’t re-invent the wheel
• Understand the root cause of the problem
11
Special Thanks
• Dr. Vivek Mittel MD, Emory Hospital
12
Questions ?