Flexible Robotics in Medicine: A Design Journey of Motion Generation Mechanisms and Biorobotic System Development

ISBN-13: 9780128175958 / Angielski / Miękka / 2020 / 320 str.

Hongliang Ren

Spis treści

Chapter 1: Slender snake-like endoscopic robots in surgeryChapter 2: Prototyping soft origami quad-bellows robots from single-bellows characterization Chapter 3: Cable-driven flexible endoscope utilizing diamond-shaped perforations: FlexDiamond Chapter 4: Flexible steerable manipulator utilizing complementary configuration of multiple routing grooves and ball joints for stable omnidirectionalChapter 5: Modular origami joint operator to create bendable motions with multiple radii Chapter 6: Handheld flexible robot with concentric tubes aiming for intraocular proceduresChapter 7: Tendon routing and anchoring for cable-driven single-port surgical manipulators with spring backbones and luminal constraintsChapter 8: Compliant bending tubular mechanisms with variable groove patterns for flexible robotic drilling delivery Chapter 9: Tendon-driven linkage for steerable guide of flexible bending manipulationChapter 10: Soft-bodied flexible bending mechanism with silent shape memory alloys aiming for robotic endoscopyChapter 11: Comparative mechanical analysis for flexible bending manipulators with quad-tendon antagonistic pairsChapter 12: Flexible robotic platform with multiple-bending tendon-driven mechanism Chapter 13: Design evolution of a flexible robotic bending end-effector for transluminal explorations Chapter 14: Force sensing in compact concentric tube mechanism with optical fibers Chapter 15: Electromechanical characterization of magnetic responsive and conductive soft polymer Chapter 16: Robotic transluminal Pan-and-Tilt Scope Chapter 17: Single-port multichannel multi-degree-of-freedom robot with variable stiffness for natural orifice transluminal endoscopic surgery Chapter 18: EndoGoose: flexible and steerable endoscopic forceps with actively pose-retaining bendable sections Chapter 19: Flexible drill manipulator utilizing different rolling sliding joints for transoral drilling through the tracheal tissue Chapter 20: Thermo-responsive hydrogel-based circular valve embedded with shape-memory actuatorsChapter 21: OmniFlex: omnidirectional flexible hand-held endoscopic manipulator with spheroidal joint