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Figure 2: Receptacle layout
D-shaped keyway to orient insertion tube
Ensures proper drivetrain transmission
Electronic connector mounting platform
Interface between insertion tube and controller
Modular design for manufacturing
Drivetrain Transmission
Figure 1: Drive mechanism
Capstan rotated by M1.5 screw mimics pulley
Transfers linear motion to rotary motion
Compact design saves space on cross section
Easy to manufacture
One moving part: design simplicity
360 degrees of rotation causes full deflection
Receptacle
Drive Mechanism: Vertical Spool (Capstan)
Figure 3: Drivetrain controller
Bevel gear assembly between thumbwheel and M1.5 hexagonal socket
4:1 gear ratio requires of 90° rotation for full deflection of distal end, industry standard
Allows one handed operation of device by physician, increasing usability
Detachment Mechanism: Collet
Figure 4: Internal Collet Figure 5: Ring chuck, clamped Figure 6: Ring chuck, unclamped
Inspired by mechanical pencil, changed to keep insertion tube static
Ring chuck moves along collet while collet is static to clamp insertion tube without moving it
Reusable and reliable detachment, clamping force can be adjusted
Requires precise machining
Detachment Mechanism: Clasp with Notch
Figure 7: Friction Clamp
Clamps insertion tube, ensures fit between transmission and proximal end.
Easily operated with one hand
Indicates proper with insertion depth, increases confidence of physician
Designed for machinability
Reliable operation in situations of debris, foreign liquid
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