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

Personal Author(s):

Report Date:

1996-07-01

Pagination or Media Count:

59.0

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 patients 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.

Subject Categories:

  • Medicine and Medical Research
  • Cybernetics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE