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Full Description
Flexible Robotics in Medicine: A Design Journey of Motion Generation Mechanisms and Biorobotic System Development provides a resource of knowledge and successful prototypes regarding flexible robots in medicine. With specialists in the medical field increasingly utilizing robotics in medical procedures, it is vital to improve current knowledge regarding technologies available. This book covers the background, medical requirements, biomedical engineering principles, and new research on soft robots, including general flexible robotic systems, design specifications, design rationale, fabrication, verification experiments, actuators and sensors in flexible medical robotic systems.
Presenting several projects as examples, the authors also discuss the pipeline to develop a medical robotic system, including important milestones such as involved regulations, device classifications and medical standards.
Contents
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
