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RISDesign and Modeling of a Three-Degree-of-Freedom Articulating Robotic Microsurgical Forceps for Trans-Oral Laser Microsurgery
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Trans-oral laser microsurgery (TLM) is a surgical procedure for removing malignancies (e.g., cysts, polyps, tumors) of the laryngeal region through laser ablation. Intraoperative microsurgical forceps (i.e., microforceps) ...
Design and Modeling of a Three-Degree-of-Freedom Articulating Robotic Microsurgical Forceps for Trans-Oral Laser Microsurgery
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: Trans-oral laser microsurgery (TLM) is a surgical procedure for removing malignancies (e.g., cysts, polyps, tumors) of the laryngeal region through laser ablation. Intraoperative microsurgical forceps (i.e., microforceps) ...
Stiffness Design for a Spatial Three Degrees of Freedom Serial Compliant Manipulator Based on Impact Configuration Decomposition
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper proposes a method of stiffness design for a spatial Three Degrees of Freedom (3DOF) serial compliant manipulator with the objective of protecting the compliant joint actuators when the manipulator comes up against ...
Magnetorheologically Damped Compliant Foot for Legged Robotic Application
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents an innovative solution for bounce reduction between a robotic leg and the ground by means of a semiactive compliant foot. The aim of this work is to enhance the controllability and the balance of a ...
Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Octopuses are an example of dexterous animals found in nature. Their arms are flexible, can vary in stiffness, grasp objects, apply high forces with respect to their relatively light weight, and bend in all directions. ...