Articles | Volume 3, issue 1
Mech. Sci., 3, 5–14, 2012

Special issue: Future directions in compliant mechanisms

Mech. Sci., 3, 5–14, 2012

Research article 18 Jan 2012

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 M. Simi et al.
  • 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.