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Mechanical Sciences An open-access journal for theoretical and applied mechanics

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Mech. Sci., 3, 5-14, 2012
© Author(s) 2012. This work is distributed under
the Creative Commons Attribution 3.0 License.
Research article
18 Jan 2012
Modeling of a compliant joint in a Magnetic Levitation System for an endoscopic camera
M. Simi1, N. Tolou2, P. Valdastri3, J. L. Herder2, A. Menciassi1, and P. Dario1 1The BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
2Department of Biomechanical Engineering, Faculty of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands
3STORM Lab, Mechanical Engineering Department, Vanderbilt University, Nashville, TN, USA
Abstract. A novel compliant Magnetic Levitation System (MLS) for a wired miniature surgical camera robot was designed, modeled and fabricated. The robot is composed of two main parts, head and tail, linked by a compliant beam. The tail module embeds two magnets for anchoring and manual rough translation. The head module incorporates two motorized donut-shaped magnets and a miniaturized vision system at the tip. The compliant MLS can exploit the static external magnetic field to induce a smooth bending of the robotic head (0–80°), guaranteeing a wide span tilt motion of the point of view. A nonlinear mathematical model for compliant beam was developed and solved analytically in order to describe and predict the trajectory behaviour of the system for different structural parameters. The entire device is 95 mm long and 12.7 mm in diameter. Use of such a robot in single port or standard multiport laparoscopy could enable a reduction of the number or size of ancillary trocars, or increase the number of working devices that can be deployed, thus paving the way for multiple view point laparoscopy.

Citation: Simi, M., Tolou, N., Valdastri, P., Herder, J. L., Menciassi, A., and Dario, P.: Modeling of a compliant joint in a Magnetic Levitation System for an endoscopic camera, Mech. Sci., 3, 5-14,, 2012.
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