Page 378 - Flexible Robotics in Medicine
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Robotic transluminal Pan-and-Tilt Scope 371
Figure 16.6
Neutral configuration. Camera ring is not tilted.
Figure 16.7
Servo motor rotates in a clockwise manner, causing a wire to loosen and the other wire to
tighten.
16.2.3.2 Rotation mechanism
For the rotation of the tip, a motor wheel was secured onto the stepper motor, and the
wires controlling rotation were then threaded through and secured behind the motor
wheel. The servo motor is also mounted on the wheel to allow all wires to rotate together
without entanglement. A fitting wire plate (red piece on the wires, Fig. 16.9) was also
added to prevent tangling of the wires and for the secure location of the right orientation
of wires.
