Design and analysis of a novel articulated drive mechanism for multifunctional NOTES robot

Tao Shen, Carl A. Nelson, Kevin Warburton, Dmitry Oleynikov

Research output: Contribution to journalArticle

14 Scopus citations


This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, motor housing, and an arm connector. The ADM can articulate into complex shapes for improved access to surgical targets. A connector provides an efficient and convenient modularity for insertion and removal of the robot. Four DC motors guide eight cables to steer the robot. The workspace, cable displacement and force transmission relationships are derived. Experimental results give preliminary validation of the feasibility and capability of the ADM system.

Original languageEnglish (US)
Article number011004
JournalJournal of Mechanisms and Robotics
Issue number1
StatePublished - Jan 1 2015



  • Articulated drive mechanism
  • Cable displacement
  • Multifunctional robot

ASJC Scopus subject areas

  • Mechanical Engineering

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