Abstract: For special purpose robotic arms, such as a rail mounted ballast-water tank inspection arm, specific needs require special designs. Currently, there is no method to efficiently design robotic arms that can handle not ...

Abstract: We present the exact constraint design of a two degrees of freedom crossflexurebased stage that combines a large workspace to footprint ratio with high vibration mode frequencies. To maximize unwanted vibration mode ...

Abstract: Flexible instruments are increasingly used to carry out surgical procedures. The instrument tip is remotely controlled by the surgeon. The flexibility of the instrument and the friction inside the curved endoscope jeopardize ...

Abstract: The force transmission of a flexible instrument through an endoscope is considerably deteriorated due to friction between the contacting surfaces. Friction force along the axial direction can be reduced by combining the ...

Abstract: A flexure strip has constraint characteristics, such as stiffness properties and error motions, that govern its performance as a basic constituent of flexure mechanisms. This paper presents a new modeling approach for ...

Abstract: A system was developed for computed tomography (CT)-guided needle placement in the thorax and abdomen, providing precise aiming of a needle guide (NG) to reach a user-specified target in a single manual insertion. The ...

Abstract: The implementation of flexible instruments in surgery necessitates high motion and force fidelity and good controllability of the tip. However, the positional accuracy and the force transmission of these instruments are ...

Abstract: The success of flexible instruments in surgery requires high motion and force fidelity and controllability of the tip. However, the friction and the limited stiffness of such instruments limit the motion and force transmission ...