Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical InstrumentsSource: Journal of Medical Devices:;2017:;volume( 011 ):;issue: 001::page 14501Author:Swaney, Philip J.
,
York, Peter A.
,
Gilbert, Hunter B.
,
Burgner-Kahrs, Jessica
,
Webster, III, Robert J.
DOI: 10.1115/1.4034575Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents a miniature wrist that can be integrated into needle-sized surgical instruments. The wrist consists of a nitinol tube with asymmetric cutouts that is actuated by a single tendon to provide high distal curvature. We derive and experimentally validate kinematic and static models for the wrist and describe several prototype wrists, illustrating the straightforward fabrication and scalability of the design. We experimentally investigate fatigue life, the concept of tip-first bending, and practical use of the wrist with a concentric tube robot in an endonasal surgical scenario.
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| contributor author | Swaney, Philip J. | |
| contributor author | York, Peter A. | |
| contributor author | Gilbert, Hunter B. | |
| contributor author | Burgner-Kahrs, Jessica | |
| contributor author | Webster, III, Robert J. | |
| date accessioned | 2017-11-25T07:18:30Z | |
| date available | 2017-11-25T07:18:30Z | |
| date copyright | 2016/21/12 | |
| date issued | 2017 | |
| identifier issn | 1932-6181 | |
| identifier other | med_011_01_014501.pdf | |
| identifier uri | http://138.201.223.254:8080/yetl1/handle/yetl/4235201 | |
| description abstract | This paper presents a miniature wrist that can be integrated into needle-sized surgical instruments. The wrist consists of a nitinol tube with asymmetric cutouts that is actuated by a single tendon to provide high distal curvature. We derive and experimentally validate kinematic and static models for the wrist and describe several prototype wrists, illustrating the straightforward fabrication and scalability of the design. We experimentally investigate fatigue life, the concept of tip-first bending, and practical use of the wrist with a concentric tube robot in an endonasal surgical scenario. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Design, Fabrication, and Testing of a Needle-Sized Wrist for Surgical Instruments | |
| type | Journal Paper | |
| journal volume | 11 | |
| journal issue | 1 | |
| journal title | Journal of Medical Devices | |
| identifier doi | 10.1115/1.4034575 | |
| journal fristpage | 14501 | |
| journal lastpage | 014501-9 | |
| tree | Journal of Medical Devices:;2017:;volume( 011 ):;issue: 001 | |
| contenttype | Fulltext |