Design and Performance Investigation of a Robot-Assisted Flexible Ureteroscopy System

Table 3

Motor and electrical component selections of the proposed robotic system.

Joint/electrical components	Motor/electrical component selection
Translation joint in the master manipulator	Maxon DCX22S, with a gearbox ratio of 21 : 1
Rotation joint in the master manipulator	Maxon DCX22S, with a gearbox ratio of 21 : 1
Deflection joint in the master manipulator	Maxon DCX22S, with a gearbox ratio of 21 : 1
Height adjustment in the master manipulator	Maxon RE35
Translation joint in the slave manipulator	Maxon DCX22S, with a gearbox ratio of 21 : 1
Rotation joint in the slave manipulator	Maxon DCX22S, with a gearbox ratio of 231 : 1
Deflection joint in the slave manipulator	Maxon RE-max17, with a gearbox ratio of 100 : 1
Height and inclination adjustment in the slave manipulator	Maxon RE35
Insertion assistance mechanism in the slave manipulator	Maxon RE-max17, with a gearbox ratio of 100 : 1
Amplifiers in both master and slave manipulators	ACK-055-06, Copley Controls
Motion controller	Power Clipper, Delta Tau