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. Author manuscript; available in PMC: 2020 May 12.
Published in final edited form as: Ann Biomed Eng. 2017 Nov 17;46(3):475–487. doi: 10.1007/s10439-017-1960-z

Figure 2.

Figure 2.

CAD drawing of the motorized rotation stage. (a) The schematic configuration involves two input shafts (1, 2) driving a configuration of three miter gears, providing rotational motions θ and φ. Both θ and φ rotational directions are perpendicular to each other. Rotation in the θ direction (the theta angulation unit, 3) occurs when R1 and R2 rotate in the same direction. Rotation in the φ direction (phi angulation unit and needle insertion guide, 4) occurs when they rotate in opposing directions. (b) The actual design obeys the same relations, but utilized a timing belt in addition to miter gears to increase the workspace of the needle guide.