Figure 1: Endoplatform with a Biopsy Forceps
During my master's research, I designed, developed, and built the endoplatform shown in Figure 1. The endoplatform is a manipulator for tools used in endoscopic surgery. The endoscopic tool passes through the center of the platform. Three tendons are attached to the platform to control the position of tool. Three DC motors are attached to the tendons to provide the actuation force.
This work is documented in an ERL memo (UCB/ERL M94/7)(602K) and in a CDC'94 conference paper(294K).
A movie of the endoplatform tracking a circular trajectory at 2.0Hz is shown here (604KB).
Some additional medical robotics work done in our lab is documented here.