Endoscope Linear Motion System with Ultrasonic Motor and Gearless DC Motor for Transcanal Endoscopic Ear Surgery

Abstract

By introducing locally operated surgical assistant robots in a sterilized area, a surgeon can perform safe and accurate robotically assisted endoscopic ear surgery. A new locally operated endoscope manipulator with dual linear motion that can be used by the surgeon’s left hand during endoscopic ear surgery has been developed. The linear motion of the endoscope is driven by selectable two motors. An ultrasonic motor using a rack and pinion with a linear guide leads to precise and safe motion in the ear canal. A gearless DC motor using a belt pulley with the shared linear guide leads to high speed motion outside. The dimensions of the linear motion device are 155 mm * 282 mm * 77 mm.