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RISDesign of a Two Degree-of-Freedom Compliant Tool Tip for a Handheld Powered Surgical Tool
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A novel monobloc design of a two degree-of-freedom (DOF) compliant tool tip for a handheld powered surgical tool is presented in this paper. The monobloc tool tip can pitch and yaw using corner-filleted flexure hinge-based ...
Design and Analysis of a Multimodal Grasper Having Shape Conformity and Within-Hand Manipulation With Adjustable Contact Forces
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper presents the design, analysis, and testing of a novel multimodal grasper having the capabilities of shape conformation, within-hand manipulation, and a built-in compact mechanism to vary the forces at the contact ...
A Novel Design for a Compliant Mechanism Based Variable Stiffness Grasper Through Structure Modulation
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Robots utilize graspers for interacting with an environment. Conventional robotic graspers have difficulty conforming to objects of varied shape and exerting varying grasping forces. Variable stiffness soft robotic graspers ...
Empirical Mode Analysis for Characterization of Hand Tremor in the Design of Laparoscopic Tools1
Publisher: The American Society of Mechanical Engineers (ASME)
A Practical Approach to the Design and Development of Tele-Operated Surgical Robots for Resource Constrained Environments—A Case Study
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Tele-operation has brought about a paradigm shift in the way minimally invasive surgeries are carried out. Several tele-operated robotic systems have been developed in the last three decades. In this research work, we ...