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RISFull-Dimensional Intuitive Motion Mapping Strategy for Minimally Invasive Surgical Robot With Redundant Passive Joints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Adding redundant passive joints to a robotic arm is an effective way to make the robot overcome the inherent incision constraint of minimally invasive surgery (MIS). However, due to the limited motion accuracy, it is ...
A Robotic System With a Bendable Catheter for Laparoendoscopic Single Site Surgery
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Robotic laparoendoscopic single site surgery (LESS) is emerging as a hot research topic with the advancement of robotics. However, the movement of the rigid catheter inserted through a fixed incision into the patient's ...
A Class of 2 Degree of Freedom Planar Remote Center of Motion Mechanisms Based on Virtual Parallelograms
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Robotassisted minimally invasive surgery (MIS) has shown tremendous advances over the traditional technique. The remote centerofmotion (RCM) mechanism is one of the main components of a MIS robot. However, the widely used ...
Kinematic Design of a Novel Spatial Remote Center of Motion Mechanism for Minimally Invasive Surgical Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: To deliver more value to the healthcare industry, a specialized surgical robot is needed in the minimally invasive surgery (MIS) field. To fill this need, a compact hybrid robotic wrist with four degrees of freedom (DOFs) ...
A Family of Remote Center of Motion Mechanisms Based on Intersecting Motion Planes
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: If a part of a mechanism is restrained to rotate about a point not physically belonging to it, the mechanism is called a remote centerofmotion (RCM) mechanism. The RCM mechanisms are generally designed especially for ...
A Specimen Extraction Instrument Based on Braided Fiber Tube for Natural Orifice Translumenal Endoscopic Surgery
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Natural orifice translumenal endoscopic surgery (NOTES) has offered significant advantages of less pain, reduced recovery time, and minimized scar after operation, demonstrating a promising development prospect. However, ...
Kinematic Design of a Generalized Double Parallelogram Based Remote Center-of-Motion Mechanism for Minimally Invasive Surgical Robot
Publisher: The American Society of Mechanical Engineers (ASME)
Pneumatic Soft Arm Based on Spiral Balloon Weaving and Shape Memory Polymer Backbone
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a novel design of soft arm with triplet spiral balloons weaving and a shape memory polymer (SMP) backbone mechanism, which enables dexterous actuation and an additional variable stiffness function. The ...
Type Synthesis and Analysis of Reconfigurable Modules for Closed-Loop Cable-Driven Mechanisms Based on Geometric Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Cable-driven mechanisms, particularly in closed-loop configurations, have demonstrated significant advancements in flexible drive systems. However, the cable tension changes caused by the closed-loop configuration cannot ...
Type Synthesis and Analysis of Reconfigurable Modules for Closed-Loop Cable-Driven Mechanisms Based on Geometric Constraints
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Cable-driven mechanisms, particularly in closed-loop configurations, have demonstrated significant advancements in flexible drive systems. However, the cable tension changes caused by the closed-loop configuration cannot ...