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

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Interesting Aspects

• Overall Endoscope

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Interesting Aspects

• Individual Link

HALF-LINK

HALF-LINK

REVOLUTE JOINT

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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

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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.

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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

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Special Thanks

• Dr. Vivek Mittel MD, Emory Hospital

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Questions ?