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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 ...
Vibration Analysis of the Free-Falling Microstructure Profiler
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Free-falling microstructure profiler (FFMP) is the most effective platform for measuring ocean microstructure turbulence. Vibration is the key factor of influencing the accuracy of the measurement of the shear sensor mounted ...
Self-Forcing Mechanism of the Braided Tube as a Robotic Gripper
Publisher: American Society of Mechanical Engineers (ASME)
Abstract: Robotic grippers, which act as the end effector and contact the objects directly, play a crucial role in the performance of the robots. In this paper, we design and analyze a new robotic gripper based on the braided tube. ...