Accession Number : ADA312220

Title :   Develop a Small Mobile Robot Along With Piezoelectric Ultrasonic Motors Which Can Be Made Compact For Use On a Small Robot.

Descriptive Note : Final rept. 16 Sep 94-31 May 96.

Corporate Author : MASSACHUSETTS INST OF TECH CAMBRIDGE ARTIFICIAL INTELLIGENCE LAB

PDF Url : ADA312220

Report Date : JUL 1996

Pagination or Media Count : 59

Abstract : This report describes research undertaken to develop mechanisms for telepresence surgery and the basic technologies that would enable a surgeon to direct a self-propelled endoscope through a patient's large intestine from a remote location. Three omni-directional belt-driven prototypes were built and driven through an intestine-like environinent. In addition, enabling technologies of thick-film PZT and 8mm ultrasonic motors were developed. The latter demonstrated stall torque densities 50 times those of comparably-sized electromagnetic DC motors.

Descriptors :   *ROBOTS, *MEDICAL EQUIPMENT, *SELF PROPELLED, *ENDOSCOPY, ULTRASONICS, MOBILE, PIEZOELECTRIC MATERIALS, PATIENTS, REMOTE AREAS, PHYSICIANS, SURGERY, MOTORS, THICK FILMS, INTESTINES.

Subject Categories : Medicine and Medical Research
      Cybernetics

Distribution Statement : APPROVED FOR PUBLIC RELEASE