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contributor authorS. Kota
contributor authorK.-J. Lu
contributor authorZ. Kreiner
contributor authorJ. Arenas
contributor authorJ. Geiger
contributor authorB. Trease
date accessioned2017-05-09T00:15:12Z
date available2017-05-09T00:15:12Z
date copyrightNovember, 2005
date issued2005
identifier issn0148-0731
identifier otherJBENDY-26555#981_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/131301
description abstractThis paper introduces the benefits of exploiting elasticity in the engineering design of surgical tools, in general, and of minimally invasive procedures, in particular. Compliant mechanisms are jointless mechanisms that rely on elastic deformation to transmit forces and motion. The lack of traditional joints in these single-piece flexible structures offers many benefits, including the absence of wear debris, pinch points, crevices, and lubrication. Such systems are particularly amenable to embedded sensing for haptic feedback and embedded actuation with active-material actuators. The paper provides an overview of design synthesis methods developed at the Compliant Systems Design Laboratory and focuses specifically on surgical applications. Compliant systems have potential to integrate well within the constraints of laparoscopic procedures and telerobotic surgery. A load-path representation is used within a genetic algorithm to solve two gripper example problems. In addition, the paper illustrates the design and construction of an organ (kidney) manipulator for use in minimally invasive procedures.
publisherThe American Society of Mechanical Engineers (ASME)
titleDesign and Application of Compliant Mechanisms for Surgical Tools
typeJournal Paper
journal volume127
journal issue6
journal titleJournal of Biomechanical Engineering
identifier doi10.1115/1.2056561
journal fristpage981
journal lastpage989
identifier eissn1528-8951
keywordsStress
keywordsDesign
keywordsGrippers
keywordsKidney
keywordsCompliant mechanisms
keywordsTopology
keywordsManipulators
keywordsSurgery
keywordsOptimization
keywordsSurgical tools
keywordsForce AND Motion
treeJournal of Biomechanical Engineering:;2005:;volume( 127 ):;issue: 006
contenttypeFulltext


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