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Proceedings Papers

Modeling of an Electroactive Steerable End-Effector for Minimally Invasive Surgery

William M. Aguilera, Mary I. Frecker, Randy Haluck

Proc. ASME. IDETC-CIE2001, Volume 2A: 27th Design Automation Conference, 451-458, September 9–12, 2001

Paper No: DETC2001/DAC-21056

DOI: https://doi.org/10.1115/DETC2001/DAC-21056

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Topics: End effectors, Modeling, Surgery, Deflection, Piezoelectric ceramics, Actuators, Design, Electric fields, Active materials, Conducting polymers

Proceedings Papers

Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint

Carl A. Nelson, Cole A. Dempsey, Ethan R. Brush, M. Amine Laribi

Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A014, August 18–21, 2019

Paper No: DETC2019-97981

DOI: https://doi.org/10.1115/DETC2019-97981

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Topics: Design, Robots, Rolling contact, Surgery, Bevel gears, Collisions (Physics), Human-robot interaction, Safety, Surgical tools

Proceedings Papers

Design of a Robotic Cannula for Robotic Lumber Discectomy

Yang Ding, Benjamin V. Johnson, David J. Cappelleri

Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A034, August 18–21, 2019

Paper No: DETC2019-97365

DOI: https://doi.org/10.1115/DETC2019-97365

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Topics: Design, Discectomies, Lumber, Robotics, Instrumentation, Rotation, Surgery, Control equipment, Design engineering, Disks

Proceedings Papers

Cylindrical Developable Mechanisms for Minimally Invasive Surgical Instruments

Kenny Seymour, Jacob Sheffield, Spencer P. Magleby, Larry L. Howell

Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A054, August 18–21, 2019

Paper No: DETC2019-97202

DOI: https://doi.org/10.1115/DETC2019-97202

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Topics: Design, Instrumentation, Kinematics, Surgery, Surgical tools

Proceedings Papers

A 3D-Printed Needle Driver Based on Auxetic Structure and Inchworm Kinematics

A. Pfeil, L. Barbé, B. Wach, A. Bruyas, F. Geiskopf, M. Nierenberger, P. Renaud

Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A057, August 26–29, 2018

Paper No: DETC2018-85371

DOI: https://doi.org/10.1115/DETC2018-85371

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Topics: Additive manufacturing, Kinematics, Needles, Actuators, Imaging, Magnetic resonance imaging, Displacement, Modeling, Pressure, Safety

Proceedings Papers

Design of Disposable 3D Printed Surgical End-Effectors for Robotic Lumbar Discectomy Procedures

Benjamin V. Johnson, Zekun Gong, Brian A. Cole, David J. Cappelleri

Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A055, August 26–29, 2018

Paper No: DETC2018-85257

DOI: https://doi.org/10.1115/DETC2018-85257

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Topics: Additive manufacturing, Design, Discectomies, End effectors, Robotics, Surgery, Instrumentation, Cables, Disks, Fatigue testing

Proceedings Papers

Motor Skill Evaluation During Robot-Assisted Surgery

Somayeh B. Shafiei, Lora Cavuoto, Khurshid A. Guru

Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A062, August 6–9, 2017

Paper No: DETC2017-67607

DOI: https://doi.org/10.1115/DETC2017-67607

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Topics: Engines, Motors, Robots, Surgery, End effectors, Control systems, Kinematics, Motor controls, Needles, Robotics

Proceedings Papers

Use of Numerical-Clustering Framework for End-Effector Tracking During Robot-Assisted Surgery

Somayeh B. Shafiei, Khurshid A. Guru

Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A063, August 6–9, 2017

Paper No: DETC2017-67616

DOI: https://doi.org/10.1115/DETC2017-67616

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Topics: End effectors, Robots, Surgery, Biomedical imaging, Instrumentation, Biological tissues, Robotics, Biomedicine, Cancer, Computer simulation

Proceedings Papers

Review, Categorization and Comparison of 1 DOF Static Balancers

Asthor T. Steinthorsson, Milton E. Aguirre, Gerard Dunning, Just L. Herder

Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A018, August 2–5, 2015

Paper No: DETC2015-47217

DOI: https://doi.org/10.1115/DETC2015-47217

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Topics: Bending (Stress), Design, Energy storage, Engines, Feedback, Haptics, Motors, Robotics, Stress, Surgical tools

Proceedings Papers

Tool-Tissue Force Estimation for a 3-DOF Robotic Surgical Tool

Baoliang Zhao, Carl A. Nelson

Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A030, August 2–5, 2015

Paper No: DETC2015-46344

DOI: https://doi.org/10.1115/DETC2015-46344

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Topics: Biological tissues, Robotics, Surgical tools, Haptics, Sterilization, Surgery, Delays, Engines, Feedback, Force sensors

Proceedings Papers

Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application

Guochao Bai, Peng Qi, Kaspar Althoefer, Duanling Li, Xianwen Kong, Jian S. Dai

Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A011, August 2–5, 2015

Paper No: DETC2015-47118

DOI: https://doi.org/10.1115/DETC2015-47118

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Topics: Design engineering, End effectors, Instrumentation, Kinematic analysis, Linkages, Robotics, Surgery, Surgical tools

Proceedings Papers

A Mechanical Comparison of Traditional and Minimally Invasive Acetabular Reamers for Total Hip Arthroplasty

Kari L. Puma, Mark T. Ehrensberger

Proc. ASME. IDETC-CIE2014, Volume 3: 16th International Conference on Advanced Vehicle Technologies; 11th International Conference on Design Education; 7th Frontiers in Biomedical Devices, V003T12A003, August 17–20, 2014

Paper No: DETC2014-35692

DOI: https://doi.org/10.1115/DETC2014-35692

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Topics: Arthroplasty, Biomechanics, Cutting, Orthopedics, Surgery, Surgical tools, Torque

Proceedings Papers

Multi-Quadrant Surgical Robot for Single Incision Laparoscopic Colectomy

E. J. Markvicka, R. L. McCormick, T. P. Frederick, J. R. Bartels, S. M. Farritor, D. Oleynikov

Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A013, August 4–7, 2013

Paper No: DETC2013-13161

DOI: https://doi.org/10.1115/DETC2013-13161

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Topics: Robots, Surgery, Robotics, Cavities, End effectors, Feedback, Biological tissues, Degrees of freedom, Ergonomics, Haptics

Proceedings Papers

Deformation Characterization of Mouse Oocyte Cell Using Inverse Finite Element and Levenberg–Marquardt Optimization Algorithm in Needle Injection Experiment

Ali A. Abbasi, M. T. Ahmadian

Proc. ASME. IDETC-CIE2012, Volume 2: 32nd Computers and Information in Engineering Conference, Parts A and B, 847-852, August 12–15, 2012

Paper No: DETC2012-70025

DOI: https://doi.org/10.1115/DETC2012-70025

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Topics: Deformation, Finite element analysis, Needles, Optimization algorithms, Mechanical properties, Biological cells, Biomedicine, Engineering simulation, Simulation, Simulation results

Proceedings Papers

Optimal Design of Compliant Joint and Gripper for Miniature Robotic Devices: Application to Surgery

Christine Rotinat-Libersa, Belen Solano

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 393-402, August 12–15, 2012

Paper No: DETC2012-71515

DOI: https://doi.org/10.1115/DETC2012-71515

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Topics: Design, Grippers, Robotics, Surgery, Stress, Blocks (Building materials), Dimensions, Displacement, End effectors, Manganese (Metal)

Proceedings Papers

A Design Method Based on Ant Colony Optimization for Compliant Mechanisms: Introduction and Application to a Surgical Tool

L. Rubbert, P. Renaud, J. Gangloff

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 229-238, August 12–15, 2012

Paper No: DETC2012-70383

DOI: https://doi.org/10.1115/DETC2012-70383

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Topics: Compliant mechanisms, Design methodology, Optimization, Surgical tools, Architecture, Design, Geometry, Robustness

Proceedings Papers

Design of a Multi-Contact-Aided Compliant Mechanism

Milton E. Aguirre, Mary Frecker

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 255-259, August 28–31, 2011

Paper No: DETC2011-48637

DOI: https://doi.org/10.1115/DETC2011-48637

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Topics: Compliant mechanisms, Design, Deflection, Stress, Engineering prototypes, Manufacturing, Surgery, Computer software, Deformation, Feedback

Proceedings Papers

Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator

Carl A. Nelson, Xiaoli Zhang

Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 11-17, August 15–18, 2010

Paper No: DETC2010-28367

DOI: https://doi.org/10.1115/DETC2010-28367

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Topics: Manipulators, Surgical tools, Design, Actuators, Gears, Kinematics, Manipulator design, Surgery

Proceedings Papers

On the Dynamic Modeling of a Bevel-Geared Surgical Robotic Mechanism

Xiaoli Zhang, Carl A. Nelson

Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 19-28, August 15–18, 2010

Paper No: DETC2010-28371

DOI: https://doi.org/10.1115/DETC2010-28371

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Topics: Dynamic modeling, Robotics, Surgery, Design, Actuators, End effectors, Manipulators, Biological tissues, Control systems, Dynamic analysis

Proceedings Papers

Fabrication and Strength-Based Design of a Meso Forceps

M. E. Aguirre, G. Hayes, C. Yuangyai, M. Frecker, J. Adair, N. Antolino

Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 325-333, August 30–September 2, 2009

Paper No: DETC2009-87557

DOI: https://doi.org/10.1115/DETC2009-87557

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Topics: Design, Manufacturing, Optimization, Ceramics, Slurries, Strength (Materials), Tensile strength, Casting, Density, Ethanol

NARROW

Modeling of an Electroactive Steerable End-Effector for Minimally Invasive Surgery

Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint

Design of a Robotic Cannula for Robotic Lumber Discectomy

Cylindrical Developable Mechanisms for Minimally Invasive Surgical Instruments

A 3D-Printed Needle Driver Based on Auxetic Structure and Inchworm Kinematics

Design of Disposable 3D Printed Surgical End-Effectors for Robotic Lumbar Discectomy Procedures

Motor Skill Evaluation During Robot-Assisted Surgery

Use of Numerical-Clustering Framework for End-Effector Tracking During Robot-Assisted Surgery

Review, Categorization and Comparison of 1 DOF Static Balancers

Tool-Tissue Force Estimation for a 3-DOF Robotic Surgical Tool

Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application

A Mechanical Comparison of Traditional and Minimally Invasive Acetabular Reamers for Total Hip Arthroplasty

Multi-Quadrant Surgical Robot for Single Incision Laparoscopic Colectomy

Deformation Characterization of Mouse Oocyte Cell Using Inverse Finite Element and Levenberg–Marquardt Optimization Algorithm in Needle Injection Experiment

Optimal Design of Compliant Joint and Gripper for Miniature Robotic Devices: Application to Surgery

A Design Method Based on Ant Colony Optimization for Compliant Mechanisms: Introduction and Application to a Surgical Tool

Design of a Multi-Contact-Aided Compliant Mechanism

Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator

On the Dynamic Modeling of a Bevel-Geared Surgical Robotic Mechanism

Fabrication and Strength-Based Design of a Meso Forceps

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