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Proceedings Papers

Design Consideration and Development of an MRI-Compatilbe Robot for Prostate Interventions

Samuel Lafreniere, Bardia Konh
Proc. ASME. DMD2024, 2024 Design of Medical Devices Conference, V001T08A012, April 8–10, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DMD2024-1029
https://doi.org/10.1115/DMD2024-1029
View Paper titled, Design Consideration and Development of an MRI-Compatilbe Robot for Prostate Interventions
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Topics: Design, Magnetic resonance imaging, Needles, Robotics, Robots
Proceedings Papers

Designing Accessible VR Games to Assist Stroke Rehabilitation

Shashidhar Patil, Venketesh N. Dubey, Pavitra Holi, Franck Geffard
Proc. ASME. DMD2024, 2024 Design of Medical Devices Conference, V001T07A001, April 8–10, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DMD2024-1021
https://doi.org/10.1115/DMD2024-1021
View Paper titled, Designing Accessible VR Games to Assist Stroke Rehabilitation
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Topics: Biomedicine, Design, Exoskeleton devices, Patient treatment, Robotics, Robots, Virtual reality
Proceedings Papers

A Portable Robot to Perform Prostate Brachytherapy with Active Needle Steering and Robot-Assisted Ultrasound Tracking

Mahsa Rabiei, Bardia Konh
Proc. ASME. DMD2022, 2022 Design of Medical Devices Conference, V001T11A005, April 11–14, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DMD2022-1014
https://doi.org/10.1115/DMD2022-1014
View Paper titled, A Portable Robot to Perform Prostate Brachytherapy with Active Needle Steering and Robot-Assisted Ultrasound Tracking
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Topics: Cancer, Needles, Robotics, Robots, Tendons, Ultrasound
Proceedings Papers

Development of Surgical Instruments for Robot- Assisted Biportal Endoscopic Spine Surgery(Bess)

Armanc Karakoyun, Hyeonseok Seo, HyungTaeg Han, Chunwoo Kim
Proc. ASME. DMD2022, 2022 Design of Medical Devices Conference, V001T11A003, April 11–14, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DMD2022-1010
https://doi.org/10.1115/DMD2022-1010
View Paper titled, Development of Surgical Instruments for Robot- Assisted Biportal Endoscopic Spine Surgery(Bess)
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Topics: Endoscopic devices, Robots, Surgery, Surgical tools
Proceedings Papers

Assessment of Task and Joint-Based Exoskeleton Designs for Elbow Joint Rehabilitation

Pablo Delgado, Lieth Jaradat, Yimesker Yihun
Proc. ASME. DMD2022, 2022 Design of Medical Devices Conference, V001T07A002, April 11–14, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DMD2022-1034
https://doi.org/10.1115/DMD2022-1034
View Paper titled, Assessment of Task and Joint-Based Exoskeleton Designs for Elbow Joint Rehabilitation
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Topics: Exoskeleton devices, Design, Electromyography, Muscle, Fittings, Performance, Robots
Proceedings Papers

Development of a Self-Decoupled Wire-Driven Robotic Universal Joint Toward Medical Application

A M Masum Bulbul Chowdhury, Jinsai Cheng, Dylan Yu, Tao Shen
Proc. ASME. DMD2022, 2022 Design of Medical Devices Conference, V001T07A001, April 11–14, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DMD2022-1016
https://doi.org/10.1115/DMD2022-1016
View Paper titled, Development of a Self-Decoupled Wire-Driven Robotic Universal Joint Toward Medical Application
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Topics: Biomedicine, Robotics, Robots, Universal joints, Wire
Proceedings Papers

A Framework for Objective Evaluation of Handheld Robotic Surgical Tools Against Patient Needs

Nathan D. Davies, Yusra Farhat Ullah, Timothy M. Kowalewski
Proc. ASME. DMD2022, 2022 Design of Medical Devices Conference, V001T07A003, April 11–14, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DMD2022-1039
https://doi.org/10.1115/DMD2022-1039
View Paper titled, A Framework for Objective Evaluation of Handheld Robotic Surgical Tools Against Patient Needs
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Topics: Robotics, Surgical tools, Surgery, Computers, Neurophysiology, Robots
Proceedings Papers

Design of a Flexure-Based Compliant Grasper for the Master Arm of a Surgical Robot

Karthik Chandrasekaran, Adarsh Somayaji, Asokan Thondiyath
Proc. ASME. DMD2021, 2021 Design of Medical Devices Conference, V001T12A007, April 12–15, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DMD2021-1037
https://doi.org/10.1115/DMD2021-1037
View Paper titled, Design of a Flexure-Based Compliant Grasper for the Master Arm of a Surgical Robot
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Topics: Bending (Stress), Compliant mechanisms, Design, Robots, Surgery
Proceedings Papers

Identifying Motivational Factors Affecting Assist-as-Needed Rehabilitation

Gissele Mosqueda, Rachel Sutton, Virgil Miranda, Anna Tri, Lisa Vangsness, Yimesker Yihun
Proc. ASME. DMD2021, 2021 Design of Medical Devices Conference, V001T07A001, April 12–15, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DMD2021-1055
https://doi.org/10.1115/DMD2021-1055
View Paper titled, Identifying Motivational Factors Affecting Assist-as-Needed Rehabilitation
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Topics: Design, Human factors, Patient treatment, Robots, Weight (Mass)
Proceedings Papers

The Feasibility of a Robotic Device to Objectively Measure Ankle Joint Proprioception

Qiyin Huang, Bin Zhong, Elangovan Naveen, Mingming Zhang, Jürgen Konczak
Proc. ASME. DMD2021, 2021 Design of Medical Devices Conference, V001T12A015, April 12–15, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DMD2021-1088
https://doi.org/10.1115/DMD2021-1088
View Paper titled, The Feasibility of a Robotic Device to Objectively Measure Ankle Joint Proprioception
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Topics: Robotics, Robots, Reliability, Design, Rehabilitation devices, Signals
Proceedings Papers

Variable Hydraulic Transmission to Be Used in a Body-Powered Wearable Robot

Saeed Hashemi, William Durfee
Proc. ASME. DMD2020, 2020 Design of Medical Devices Conference, V001T03A005, April 6–9, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DMD2020-9063
https://doi.org/10.1115/DMD2020-9063
View Paper titled, Variable Hydraulic Transmission to Be Used in a Body-Powered Wearable Robot
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Topics: Robots
Proceedings Papers

An Untethered Electro-Pneumatic Exosuit for Gait Assistance of People With Foot Drop

Lizzette J. Salmeron, Gladys V. Juca, Satesh M. Mahadeo, Jiechao Ma, Shuangyue Yu, Hao Su
Proc. ASME. DMD2020, 2020 Design of Medical Devices Conference, V001T09A009, April 6–9, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DMD2020-9099
https://doi.org/10.1115/DMD2020-9099
View Paper titled, An Untethered Electro-Pneumatic Exosuit for Gait Assistance of People With Foot Drop
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Topics: Actuators, Compression, Design engineering, Exoskeleton devices, Finishes, Pneumatic actuators, Pneumatic systems, Pumps, Robotics, Robots
Proceedings Papers

Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery

John Lowery, Carl A. Nelson
Proc. ASME. DMD2020, 2020 Design of Medical Devices Conference, V001T06A001, April 6–9, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DMD2020-9010
https://doi.org/10.1115/DMD2020-9010
View Paper titled, Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery
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Topics: Design, Robots, Surgery, Design engineering, Engineering prototypes, Engineering simulation, Kinematics, Robotics, Simulation, Tendons
Proceedings Papers

Constant Force Application on a Beating Swine Heart: Robotic Assistance for Mapping and Ablation Procedures

Emma Schinstock, Xiaoyin Ling, Renato Conedera, Aaron Tucker, David Ramirez
Proc. ASME. DMD2019, 2019 Design of Medical Devices Conference, V001T01A003, April 15–18, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DMD2019-3253
https://doi.org/10.1115/DMD2019-3253
View Paper titled, Constant Force Application on a Beating Swine Heart: Robotic Assistance for Mapping and Ablation Procedures
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Topics: Ablation (Vaporization technology), Robotics, Robots, Catheters, Biological tissues, Cardiac cycle, Testing, Biomedicine, Control equipment, Degrees of freedom
Proceedings Papers

Modular Self-Reconfigurable Robot for Autonomous Rehabilitation Assistance in Daily Living Tasks for Spinal Cord Injury Patients

Carl A. Nelson, Mitchell A. Bruckner, Jay S. Chae, Judith M. Burnfield, Thad W. Buster, Guilherme M. Cesar, Chase M. Pfeifer, Prithviraj Dasgupta
Proc. ASME. DMD2019, 2019 Design of Medical Devices Conference, V001T10A008, April 15–18, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DMD2019-3240
https://doi.org/10.1115/DMD2019-3240
View Paper titled, Modular Self-Reconfigurable Robot for Autonomous Rehabilitation Assistance in Daily Living Tasks for Spinal Cord Injury Patients
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Topics: Robots, Spinal cord, Wounds, Design, Hardware, Kinematics, Testing
Proceedings Papers

Optimal Design of a Parallel Robot for Dental Articulation

Dilmurat A. Kizghin, Carl A. Nelson
Proc. ASME. DMD2019, 2019 Design of Medical Devices Conference, V001T10A001, April 15–18, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DMD2019-3209
https://doi.org/10.1115/DMD2019-3209
View Paper titled, Optimal Design of a Parallel Robot for Dental Articulation
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Topics: Design, Robots, Robotics, Testing, Bridges (Structures), Engineering prototypes, Errors, Kinematics, Manufacturing, Workflow
Proceedings Papers

Automated Manufacturing of Fiber-Reinforced Elastomeric Enclosures for Patient Specific Catheter Robots

Ben Hamlen, Gillian McDonald, Mark Gilbertson, Daniel Ng, Timothy Kowalewski
Proc. ASME. DMD2019, 2019 Design of Medical Devices Conference, V001T10A016, April 15–18, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DMD2019-3300
https://doi.org/10.1115/DMD2019-3300
View Paper titled, Automated Manufacturing of Fiber-Reinforced Elastomeric Enclosures for Patient Specific Catheter Robots
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Topics: Catheters, Fibers, Manufacturing, Robots, Errors
Proceedings Papers

Real-Time Robust 3D Plane Extraction for Wearable Robot Perception and Control

Ran Duan, Shuangyue Yu, Guang Yue, Richard Foulds, Chen Feng, Yingli Tian, Hao Su
Proc. ASME. DMD2018, 2018 Design of Medical Devices Conference, V001T06A003, April 9–12, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DMD2018-6964
https://doi.org/10.1115/DMD2018-6964
View Paper titled, Real-Time Robust 3D Plane Extraction for Wearable Robot Perception and Control
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Topics: Decision making, Intelligent control systems, Mechanical admittance, Navigation, Robots
Proceedings Papers

Design of a Modular, Partially Disposable Robot for Minimally Invasive Surgery

Nicholas Nelson, Carl A. Nelson
Proc. ASME. DMD2018, 2018 Design of Medical Devices Conference, V001T07A001, April 9–12, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DMD2018-6821
https://doi.org/10.1115/DMD2018-6821
View Paper titled, Design of a Modular, Partially Disposable Robot for Minimally Invasive Surgery
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Topics: Design, Robots, Surgery, Instrumentation, Degrees of freedom
Proceedings Papers

Realization of a Statically Balanced Compliant Planar Remote Center of Motion Mechanism for Robotic Surgery

Karthik Chandrasekaran, Adarsh Somayaji, Asokan Thondiyath
Proc. ASME. DMD2018, 2018 Design of Medical Devices Conference, V001T07A011, April 9–12, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DMD2018-6911
https://doi.org/10.1115/DMD2018-6911
View Paper titled, Realization of a Statically Balanced Compliant Planar Remote Center of Motion Mechanism for Robotic Surgery
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Topics: Robotics, Surgery, Robots, Surgical tools, Kinematics