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Table of Contents
Intro
Preface
Organization
Contents
Surgical Robotics
Soft Robot Assistance for Tumor Biopsy and Ablation in Magnetic Resonance Imaging*-12pt
1 Introduction
2 Concept and Methods
2.1 Requirements for Percutaneous Interventions Using the Assistance System in MRI
2.2 Procedure of the Medical Intervention with the Assistance System
2.3 Conceptual Design of the Robotic System
2.4 Sterility Concept
2.5 Fabrication of the Soft Robot
3 Characterization and Validation of the Soft Robotic Assistance System
3.1 Bending Characteristics of the Soft Robot
4 Results of the Bending Characterization
5 Discussion
References
Workspace-aware Planning of a Surgical Robot Mounting in Virtual Reality
1 Introduction
2 Materials and Methods
2.1 Apparatus
2.2 Workspace Calculation, Visualization, and Interaction
2.3 Evaluation
3 Results
4 Discussion
5 Conclusion
References
Structural Study of a Robotic System for Sils Surgery
1 Introduction
1.1 State of the Art in Robotic SILS
2 Parallel Robotic System for SILS
2.1 Robotic Integration in Medical Procedure
2.2 The SILS Robot Platform Motions
3 The 6 DOF Robotic Platform
3.1 The First Motion Chain
3.2 The Second Motion Chain
3.3 The Third Motion Chain
4 FEM Analysis of System Components
5 Conclusions
References
Design and Functional Analysis of a New Parallel Modular Robotic System for Single Incision Laparoscopic Surgery
1 Introduction
2 Kinematic Scheme for a New Parallel Modular Robotic System
3 Constructive Design of a New Parallel Modular Robot for SILS
4 Robot Simulation and Workspace Generation in Siemens NX
5 Finite Element Analysis for Main Components of the Robot
6 Conclusions
Design of Medical Devices
Grip-Type Pseudo Force Display with Normal and Tangential Skin Stimulationpg*-12pt
1 Introduction
2 Device
2.1 Overview
2.2 Device Design and Production
3 Applications
4 Conclusion
References
Design of a Surgical Stapler for Laparoscopic Colectomy
1 Introduction
2 Workspace Analysis
3 Mechanism Design of Surgical Stapler
3.1 Kinematics Equations of the Tensegrity Mechanism
3.2 Simulation and Singularities
4 Application to the Stapler Design
5 Conclusions
References
Preface
Organization
Contents
Surgical Robotics
Soft Robot Assistance for Tumor Biopsy and Ablation in Magnetic Resonance Imaging*-12pt
1 Introduction
2 Concept and Methods
2.1 Requirements for Percutaneous Interventions Using the Assistance System in MRI
2.2 Procedure of the Medical Intervention with the Assistance System
2.3 Conceptual Design of the Robotic System
2.4 Sterility Concept
2.5 Fabrication of the Soft Robot
3 Characterization and Validation of the Soft Robotic Assistance System
3.1 Bending Characteristics of the Soft Robot
4 Results of the Bending Characterization
5 Discussion
References
Workspace-aware Planning of a Surgical Robot Mounting in Virtual Reality
1 Introduction
2 Materials and Methods
2.1 Apparatus
2.2 Workspace Calculation, Visualization, and Interaction
2.3 Evaluation
3 Results
4 Discussion
5 Conclusion
References
Structural Study of a Robotic System for Sils Surgery
1 Introduction
1.1 State of the Art in Robotic SILS
2 Parallel Robotic System for SILS
2.1 Robotic Integration in Medical Procedure
2.2 The SILS Robot Platform Motions
3 The 6 DOF Robotic Platform
3.1 The First Motion Chain
3.2 The Second Motion Chain
3.3 The Third Motion Chain
4 FEM Analysis of System Components
5 Conclusions
References
Design and Functional Analysis of a New Parallel Modular Robotic System for Single Incision Laparoscopic Surgery
1 Introduction
2 Kinematic Scheme for a New Parallel Modular Robotic System
3 Constructive Design of a New Parallel Modular Robot for SILS
4 Robot Simulation and Workspace Generation in Siemens NX
5 Finite Element Analysis for Main Components of the Robot
6 Conclusions
Design of Medical Devices
Grip-Type Pseudo Force Display with Normal and Tangential Skin Stimulationpg*-12pt
1 Introduction
2 Device
2.1 Overview
2.2 Device Design and Production
3 Applications
4 Conclusion
References
Design of a Surgical Stapler for Laparoscopic Colectomy
1 Introduction
2 Workspace Analysis
3 Mechanism Design of Surgical Stapler
3.1 Kinematics Equations of the Tensegrity Mechanism
3.2 Simulation and Singularities
4 Application to the Stapler Design
5 Conclusions
References