Journal ArticleDOI
Design of a Two Degree-of-Freedom Compliant Tool Tip for a Handheld Powered Surgical Tool
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This article is published in Journal of Medical Devices-transactions of The Asme.The article was published on 2017-03-01. It has received 16 citations till now.read more
Citations
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Journal ArticleDOI
Surgical Applications of Compliant Mechanisms - A Review
Theodosia Lourdes Thomas,Venkatasubramanian Kalpathy Venkiteswaran,G. K. Ananthasuresh,Sarthak Misra,Sarthak Misra +4 more
TL;DR: The application of compliant mechanisms to surgical interventions is reviewed and the surgical applications of CMs are assessed by classification into five major groups, namely, grasping and cutting, reachability and steerability, transmission, sensing, implants and deployable devices.
Journal ArticleDOI
Harmonious Cable Actuation Mechanism for Soft Robot Joints Using a Pair of Noncircular Pulleys
Jungwook Suh,Ki Young Kim +1 more
TL;DR: A novel cable actuation mechanism using noncircular pulleys or gears is expected to be applicable to various miniature robots such as surgical robots and animal robots of continuum structure in the future.
Journal ArticleDOI
A Monolithic Compliant Continuum Manipulator: A Proof-of-Concept Study
Theodosia Lourdes Thomas,Venkatasubramanian Kalpathy Venkiteswaran,G. K. Ananthasuresh,Sarthak Misra,Sarthak Misra +4 more
TL;DR: Maneuverability of the manipulator is demonstrated by steering it along a path of known curvature and also through a gelatin phantom which is visualized in real time using ultrasound imaging, substantiating its application as a steerable surgical manipulator.
Journal ArticleDOI
Modeling and design of a two-axis elliptical notch flexure hinge.
TL;DR: A new mechanical structure of TENFH was designed based on the compliance model and stress model proposed in this paper, which meets the requirements of the system.
Journal ArticleDOI
Design of Reconfigurable Planar Micro-Positioning Stages Based on Function Modules
TL;DR: A functional model-based approach is developed to divide one micro-positioning stage into a set of functionally independent sub-models, which allows flexible composition resulting in an adjustable new stage.
References
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Journal ArticleDOI
Corner-Filleted Flexure Hinges
TL;DR: In this paper, an analytical approach to corner-filleted flexure hinges is presented, where closed-form solutions for the in-plane compliance factors are derived for the CFI.
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Applications of micromechatronics in minimally invasive surgery
TL;DR: The authors' millirobotic system for MIS of the abdomen is used as an example and key needs and applications are identified, and relevant technologies, methods, and systems issues in mechatronics are discussed.
Journal ArticleDOI
Design and Application of Compliant Mechanisms for Surgical Tools
TL;DR: The paper provides an overview of design synthesis methods developed at the Compliant Systems Design Laboratory and focuses specifically on surgical applications, highlighting the design and construction of an organ (kidney) manipulator for use in minimally invasive procedures.
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Design of a multifunctional compliant instrument for minimally invasive surgery.
TL;DR: The length, width, and thickness of the multifunctional compliant mechanism tool tip is optimized to maximize the jaw opening and the grasping force, thus reducing procedure time and risk of inadvertent tissue injury during instrument exchanges.
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Articulating vs. conventional laparoscopic grasping tools—surgeons’ opinions
TL;DR: An ergonomically designed articulating laparoscopic prototype tool was developed based on task analyses, evaluation of current tools and surgeon's opinions, and results showed that a significant number of surgeons experience problems in each of fourteen problem areas, including physical and cognitive difficulties.