Bibliografie tematiche / Robotic retractor design

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Letteratura scientifica selezionata sul tema "Robotic retractor design"

Autore: Grafiati

Pubblicato: 4 giugno 2021

Ultima modifica: 1 febbraio 2022

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Articoli di riviste sul tema "Robotic retractor design"

Ramírez-Beltrán, V. O., L. A. Z.-Avilés, R. M. Valdovinos-Rosas, J. J. Reyes-Lagos, and G. M. Cruz-Martínez. "Design Specifications for an Auxiliary Incision Retractor in Dacryocystorhinostomy Surgeries." Applied Sciences 10, no. 2 (2020): 605. http://dx.doi.org/10.3390/app10020605.

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It is presented the design specifications for a Retractor Robotic System (RRS) based on the surgical necessities in the incisions procedure for a dacryocystorhinostomy. The specifications are conformed by a mathematical model, the experimental data measured, a modular flexible architecture, energy supplier system, the mechanical group, and the safety system. The specifications suggest that the use of flexible polymeric materials for the RRS provide a mayor adaptability of the system with the biological tissue; so a pneumatic actuator could be a suitable option.

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Chen, Ching-Han, Chia-Ming Kuo, Chen-Yuan Chen, and Jia-Hong Dai. "RETRACTED: The design and synthesis using hierarchical robotic discrete-event modeling." Journal of Vibration and Control 19, no. 11 (2012): 1603–13. http://dx.doi.org/10.1177/1077546312449645.

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Hoang, Manh, Viet Le, Kim Nguyen, et al. "A Robotic Biopsy Endoscope with Magnetic 5-DOF Locomotion and a Retractable Biopsy Punch." Micromachines 11, no. 1 (2020): 98. http://dx.doi.org/10.3390/mi11010098.

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Capsule endoscopes (CEs) have emerged as an advanced diagnostic technology for gastrointestinal diseases in recent decades. However, with regard to robotic motions, they require active movability and multi-functionalities for extensive, untethered, and precise clinical utilization. Herein, we present a novel wireless biopsy CE employing active five degree-of-freedom locomotion and a biopsy needle punching mechanism for the histological analysis of the intestinal tract. A medical biopsy punch is attached to a screw mechanism, which can be magnetically actuated to extrude and retract the biopsy

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Xu, Wenkang, Chenxiao Cai, and Yun Zou. "RETRACTED ARTICLE: Cascade controller design and stability analysis in FES-aided upper arm stroke rehabilitation robotic system." Nonlinear Dynamics 79, no. 2 (2014): 1099–114. http://dx.doi.org/10.1007/s11071-014-1726-1.

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Guo, Jin, Jin-Huat Low, Yoke-Rung Wong, and Chen-Hua Yeow. "Design and Evaluation of a Novel Hybrid Soft Surgical Gripper for Safe Digital Nerve Manipulation." Micromachines 10, no. 3 (2019): 190. http://dx.doi.org/10.3390/mi10030190.

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Forceps are essential tools for digital nerve manipulation during digital nerve repair surgery. However, surgeons have to operate forceps with extreme caution to prevent detrimental post-operative complications caused by over-gripping force. Their intrinsically safe characteristics have led to the increasing adoption of soft robotics in various biomedical applications. In this paper, a miniaturized hybrid soft surgical gripper is proposed for safe nerve manipulation in digital nerve repair surgery. This new surgical gripper includes a soft inflatable actuator and a gripper shell with a hook-sh

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Xu, Wenkang, Chenxiao Cai, and Yun Zou. "Retraction Note to: Cascade controller design and stability analysis in FES-aided upper arm stroke rehabilitation robotic system." Nonlinear Dynamics 82, no. 3 (2015): 1609. http://dx.doi.org/10.1007/s11071-015-2422-5.

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Barzilai, Ori, Mark H. Bilsky, and Ilya Laufer. "The Role of Minimal Access Surgery in the Treatment of Spinal Metastatic Tumors." Global Spine Journal 10, no. 2_suppl (2020): 79S—87S. http://dx.doi.org/10.1177/2192568219895265.

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Study Design: Literature review. Objective: To provide an overview of the recent advances in minimal access surgery (MAS) for spinal metastases. Methods: Literature review. Results: Experience gained from MAS in the trauma, degenerative and deformity settings has paved the road for MAS techniques for spinal cancer. Current MAS techniques for the treatment of spinal metastases include percutaneous instrumentation, mini-open approaches for decompression and tumor resection with or without tubular/expandable retractors and thoracoscopy/endoscopy. Cancer care requires a multidisciplinary effort an

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Dhawale, Nihav, Shreyas Mandre, and Madhusudhan Venkadesan. "Dynamics and stability of running on rough terrains." Royal Society Open Science 6, no. 3 (2019): 181729. http://dx.doi.org/10.1098/rsos.181729.

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Stability of running on rough terrain depends on the propagation of perturbations due to the ground. We consider stability within the sagittal plane and model the dynamics of running as a two-dimensional body with alternating aerial and stance phases. Stance is modelled as a passive, impulsive collision followed by an active, impulsive push-off that compensates for collisional losses. Such a runner has infinitely many strategies to maintain periodic gaits on flat ground. However, these strategies differ in how perturbations due to terrain unevenness are propagated. Instabilities manifest as tu

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Mageswaran, Prasath, Robert F. McLain, Robb Colbrunn, Tara Bonner, Elijah Hothem, and Adam Bartsch. "Plate fixation in the cervical spine: traditional paramedian screw configuration compared with unique unilateral configuration." Journal of Neurosurgery: Spine 18, no. 6 (2013): 575–81. http://dx.doi.org/10.3171/2013.3.spine12949.

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Object This study compared the fixing strength and stability achieved by a unilateral plate and screw configuration against a standard cervical fixation plate using a single-level corpectomy and allograft strut graft model. Methods Multidirectional in vitro flexibility tests were performed using a robotic spine testing system. Human cadaveric spines were assessed for spinal stability after vertebral corpectomy and anterior instrumentation. Specimens were mounted cranially and caudally on custom jigs that were then attached to load cells on the robotic system's end effector and base pedestal. C

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Jomartov, Assylbek, Aziz Kamal, and Azizbek Abduraimov. "Development of a planar cable parallel robot for practical application in the educational process." Eastern-European Journal of Enterprise Technologies 4, no. 7(112) (2021): 67–75. http://dx.doi.org/10.15587/1729-4061.2021.237772.

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Cable-driven parallel robot (CDPR) has the great potential for various applications in industry and in everyday life. They consist of an end effector and a base, which connected by several cables. CDPRs have a large workspace compared to the workspace of classic parallel robots. CDPR have a simpler structure have good dynamic properties, high carrying capacity, mobility and low cost. The only drawback is that the CDPR cables can only work for retraction and cannot push. This article presents the design of a prototype of a planar CDPR with four cables for practical use in the educational proces

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Più fonti

Tesi sul tema "Robotic retractor design"

Tao, Tainyi. "Design, modelling and fabrication of a robotic retractor for colorectal surgery." Thesis, Queen Mary, University of London, 2017. http://qmro.qmul.ac.uk/xmlui/handle/123456789/24781.

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This research presents the design, fabrication and controller development of a robotic retractor which driven by a robotic manipulator for laparoscopic colorectal surgery. The system consists of a dual-head fan retractor and a manipulator. The dual-head fan retractor comprises two fan devices, retractor wrist, tubular element and handle. The fan device is facilitated with a fan end-effector, an expansion mechanism and a clutchspring mechanism. Two fan devices have been used in the system to provide an anthropoid hand-holding shape which is specifically advanced for surgical purpose because int

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Atti di convegni sul tema "Robotic retractor design"

Johnson, Benjamin V., Zekun Gong, Brian A. Cole, and David J. Cappelleri. "Design of Disposable 3D Printed Surgical End-Effectors for Robotic Lumbar Discectomy Procedures." In ASME 2018 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2018. http://dx.doi.org/10.1115/detc2018-85257.

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In this paper, the design of disposable 3D printed surgical end-effectors for robotic lumbar discectomy is presented. Discectomy is the surgery to remove the herniated disc material that is pressing on a nerve root or spinal cord. This surgery is performed to relieve pain or numbness caused by the pressure on the nerve. The limited workspace of the spine (< 27 cm3) results in challenging design requirements for surgical instruments. We propose a new cannula-based robotic lumbar discectomy procedure that can accommodate multiple articulated tools in the workspace at the same time and can be

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Rox, Margaret F., Richard J. Hendrick, S. Duke Herrell, and Robert J. Webster. "An Experimental Comparison of Two User Interface Designs for a Hand-Held Surgical Robot." In 2017 Design of Medical Devices Conference. American Society of Mechanical Engineers, 2017. http://dx.doi.org/10.1115/dmd2017-3372.

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There is a trend towards miniaturization in surgical robotics with the objective of making surgeries less invasive [1]. There has also been increasing recent interest in hand-held robots because of their ability to maintain the current surgical workflow [2, 3]. We have previously presented a system that integrates small-diameter concentric tube robots [4, 5] into a hand-held robotic device [3], as shown in Figure 1. This robot was designed for transurethral laser surgery in the prostate. It provides the surgeon with two dexterous manipulators through a 5mm port in a traditional transurethral e

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Rocheleau, David N., and Matthew M. Moore. "Camera Positioning Mechanism for ARIES: An Autonomous Mobile Robot." In ASME 1996 Design Engineering Technical Conferences and Computers in Engineering Conference. American Society of Mechanical Engineers, 1996. http://dx.doi.org/10.1115/96-detc/mech-1154.

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Abstract ARIES (Autonomous Robotic Inspection Experimental System) is under development for the Department of Energy (DOE) to survey and inspect drums containing low-level radioactive waste stored in warehouses at DOE facilities. This paper focuses on the development of CPS-II, the second generation camera positioning system used in the project. The first generation camera positioning system (CPS-I) positioned four identical but separate camera packages. CPS-II positions a single camera package which consists of vision cameras and other required sensors such as a bar-code reader and light stri

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Chowdhury, A. M. Masum Bulbul, Jinsai Cheng, Michael J. Cullado, and Tao Shen. "Design and Analysis of a Wire-Driven Multifunctional Robot for Single Incision Laparoscopic Surgery." In ASME 2020 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2020. http://dx.doi.org/10.1115/detc2020-22471.

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Abstract Single Incision Laparoscopic Surgery (SILS) is a fast-growing method in the field of MIS (Minimally Invasive Surgery) that has the potential to represent the future of laparoscopic surgeries. The major benefits of SILS results from a single incision which makes surgeries essentially scar-less, and it can reduce wound infection substantially as well as recuperation time. Many new researches are now focusing on developing cutting edge technologies to support SILS; however, the practical applications of SILS are constrained by a number of intricacies such as space limitation, absence of

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Tavakkolmoghaddam, Farid, Krishnanand Kaipa, Siqin Dong, Michel Audette, Tomaz Mesar, and Eric C. Feliberti. "Design and Making of a Hand-Held Spillage-Free Specimen Retrieval Robot for Laparoscopic Surgery." In ASME 2019 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2019. http://dx.doi.org/10.1115/detc2019-98134.

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Abstract This paper presents the design and making of RoboCatch, a novel hand-held robot that aids surgeons in performing spillage-free specimen retrieval in laparoscopic surgery. The proposed design significantly modifies and extends conventional instruments that are currently used for this task. Specimen retrieval is initiated by introducing the robot’s trocar into the surgical site. A webbed three-fingered grasper slides out of the trocar and unfolds in an umbrella like-fashion. A pair of atraumatic forceps, concentrically aligned with the grasper, slide outward to grasp an excised specimen

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Hosek, Martin. "An Actuation Mechanism for a Dual-Arm Robotic Manipulator." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-14646.

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An actuation mechanism for a dual-arm scara-type robot for automated pick-place operations in semiconductor and flatpanel-display manufacturing applications is described. The mechanism consists of a pivoting platform and two linkages coupled to the platform through a pair of revolute joints. The opposite ends of the linkages are connected to the upper arms of the robot by another pair of revolute joints, forming a pair of three-bar mechanisms coupled through the pivoting platform. When the platform is in its neutral position, both of the arms are retracted. The geometry of the components of th

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Krishnasamy, Jay, and Martin Hosek. "Design Optimization of an Actuation Mechanism for a Dual-Arm Robotic Manipulator." In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-41577.

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The design optimization of an actuation mechanism for a dual-arm scara-type robotic manipulator is presented. The manipulator is to be used in a vacuum environment for wafer handling applications in the semi-conductor manufacturing industry. The actuation mechanism consists of a pivoting platform that serves as the common driver link for two four-bar mechanisms each of which drives a scara-type arm. Each of the scara-type arms has a substrate carrying end-effector to pick from or place substrates on a process module. When the pivoting platform is in its neutral position, both of the arms are r

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Zhu, W. D., and J. Ni. "Energetics and Stability of Translating Media With an Arbitrarily Varying Length." In ASME 1999 Design Engineering Technical Conferences. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/detc99/vib-8316.

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Abstract The dynamics of a class of translating media with an arbitrarily varying length is investigated. The tension in the media arising from their longitudinal accelerations is incorporated. The dynamic stability of the continuous media relative to the inertial and moving coodinate systems is studied from the energy standpoint. The exact expressions for the rates of change of energies of the media are derived and interpreted from both the control volume and system viewpoints. The monotonic behavior of the energy of vibration of the translating media during extrusion and retraction is affect

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Rouleau, Michael, and Dennis Hong. "Design of an Underactuated Robotic End-Effector With a Focus on Power Tool Manipulation." In ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/detc2014-35513.

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End-effectors require careful design considerations to be able to successfully hold and use power tools while maintaining the ability to also grasp a wide range of other objects. This paper describes the design of an end effector for a humanoid robot built for disaster response scenarios. The end effector is comprised of two independently actuated fingers with two opposing stationary rigid hollow pylons built to allow the pinching of objects and to provide protection for the opposing fingers when retracted and not in use. Each finger has two degrees of freedom (DOF) and is actuated with one se

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Comber, David B., Jonathon E. Slightam, Eric J. Barth, Vito R. Gervasi, and Robert J. Webster. "Design and Precision Control of an MR-Compatible Flexible Fluidic Actuator." In ASME/BATH 2013 Symposium on Fluid Power and Motion Control. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/fpmc2013-4481.

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Magnetic resonance imaging (MRI) offers many benefits to image-guided interventions, including excellent soft tissue distinction, little to no repositioning of the patient, and zero radiation exposure. The closed, narrow bore of a high field MRI scanner limits clinician access to the patient, such that an MR-compatible robot is essentially required for many potential interventions. A robotic system of this kind could additionally provide the clinician increased accuracy and more degrees of freedom within the minimally invasive context. Fluid power is an excellent type of actuation to use insid

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