Safe teleoperation of a laparoscope holder with dynamic precision but low stiffness.

Author(s):  
Jesus Mago ◽  
Mario Arico ◽  
Jimmy Da Silva ◽  
Guillaume Morel
2021 ◽  
Vol 34 (1) ◽  
Author(s):  
Maoqing Xie ◽  
Leigang Wang ◽  
Yao Huang

AbstractThe clutch is an important component of the vehicle driveline system. One of its major functions is to attenuate or eliminate the torsional vibration and noise of the driveline system caused by the engine. Based on experiments of vibration damping under different vehicle conditions, the structure and functional principle of a clutch-driven disc assembly for a wide-angle, large-hysteresis, multistage damper is investigated in this study using an innovative combined approach. Furthermore, a systematic integration of key technologies, including wide-angle low-stiffness damping technology, large-hysteresis clutch technology, a novel split pre-damping structure technology, damping structure technology for component cushioning, and multistage damping structure technology, is proposed. The results show that the total torsional angle of the wide-angle large-hysteresis, multistage damper is more than twice that of the traditional clutch damper. The multistage damping design allows a better consideration of various damping requirements under different vehicle conditions, which can effectively address problems of severe idle vibrations and torsional resonance that occur under idled and accelerated conditions. Meanwhile, the use of a large-hysteresis structure and wear-resistant materials not only improves the vibration damping performance, but also prolongs the product service life, consequently resulting in multi-faceted optimization and innovative products.


Author(s):  
D. L. Russell ◽  
M. McTavish

The various relationships that are possible between the mechanical properties of single actuators and the overall mechanism (in this case a human arm with or without a prosthetic elbow) are discussed. Graphical and analytical techniques for describing the range of overall limb stiffnesses that are achievable and for characterizing the overall limb stiffness have been developed. Using a biomimetic approach and, considering energetic costs, stability and complexity, the implications of choosing passive or active implementations of stiffness are discussed. These techniques and approaches are particularly applicable with redundant (agonist - antagonist) actuators and multiple degrees of freedom. Finally, a novel biomimetic approach for control is proposed.


1980 ◽  
Vol 9 (4) ◽  
pp. 179-183 ◽  
Author(s):  
H L Stark ◽  
A Al-Haboubi

The relationships of width, thickness, volume and load to extension for human skin in vitro are reported. The specimens tested exhibited a low stiffness phase followed by a high stiffness phase. Volume rose than fell back to the initial volume at approximately the end of the low stiffness phase, and continued on falling to a final reduction of about 20 per cent at failure. Width decreased throughout, showing a maximum rate of reduction at approximately the end of the low stiffness phase. Thickness increased at a rate which also was maximum at the end of the low stiffness phase. The specimens used were long compared with their width and thickness thus offering no constraint to lateral contraction. An interpretation of this data in respect of the behaviour of the collagen fibre matrix is postulated.


MRS Advances ◽  
2017 ◽  
Vol 2 (24) ◽  
pp. 1315-1321 ◽  
Author(s):  
Daniela Espinosa-Hoyos ◽  
Huifeng Du ◽  
Nicholas X. Fang ◽  
Krystyn J. Van Vliet

ABSTRACTMaterials processing and additive manufacturing afford exciting opportunities in biomedical research, including the study of cell-material interactions. However, some of the most efficient materials for microfabrication are not wholly suitable for biological applications, require extensive post-processing or exhibit high mechanical stiffness that limits the range of applications. Conversely, materials exhibiting high cytocompatibility and low stiffness require long processing times with typically decreased spatial resolution of features. Here, we investigated the use of hexanediol diacrylate (HDDA), a classic and efficient polymer for stereolithography, for oligodendrocyte progenitor cell (OPC) culture. We developed composite HDDA-polyethylene glycol acrylate hydrogels that exhibited high biocompatibility, mechanical stiffness in the range of muscle tissue, and high printing efficiency at ∼5 μm resolution.


2015 ◽  
Vol 22 (3) ◽  
pp. 259-266 ◽  
Author(s):  
Hui Liu ◽  
Zemin Li ◽  
Sibei Li ◽  
Kuibo Zhang ◽  
Hao Yang ◽  
...  

OBJECT The aim of this study was to evaluate the effects of rod stiffness and implant density on coronal and sagittal plane correction in patients with main thoracic curve adolescent idiopathic scoliosis (AIS). METHODS The authors conducted a retrospective study of 77 consecutive cases involving 56 female and 21 male patients with Lenke Type 1 main thoracic curve AIS who underwent single-stage posterior correction and instrumented spinal fusion with pedicle screw fixation between July 2009 and July 2012. The patients' mean age at surgery was 15.79 ± 3.21 years. All patients had at least 1 year of follow-up. Radiological parameters in the coronal and sagittal planes, including Cobb angle of the major curve, side-bending Cobb angle of the major curve, thoracic kyphosis (TK), correction rates, and screw density, were measured and analyzed. Screw densities (calculated as number of screws per fusion segment × 2) of < 0.60 and ≥ 0.60 were defined as low and high density, respectively. Titanium rods of 5.5 mm and 6.35 mm diameter were defined as low and high stiffness, respectively. Patients were divided into 4 groups based on the type of rod and density of screw placement that had been used: Group A, low-stiffness rod with low density of screw placement; Group B, low-stiffness rod with high density of screw placement; Group C, high-stiffness rod with low density of screw placement; Group D, high-stiffness rod with high density of screw placement. RESULTS The mean coronal correction rate of the major curve, for all 77 patients, was (81.45% ± 7.51%), and no significant difference was found among the 4 groups (p > 0.05). Regarding sagittal plane correction, Group A showed a significant decrease in TK after surgery (p < 0.05), while Group D showed a significant increase (p < 0.05); Group B and C showed no significant postoperative changes in TK (p > 0.05). The TK restoration rate was highest in Group D and lowest in Group A (A, −39.32% ± 7.65%; B, −0.37% ± 8.25%; C, −4.04% ± 6.77%; D, 37.59% ± 8.53%). Screw density on the concave side was significantly higher than that on the convex side in all the groups (p < 0.05). CONCLUSIONS For flexible main thoracic curve AIS, both rods with high stiffness and those with low stiffness combined with high or low screw density could provide effective correction in the coronal plane; rods with high stiffness along with high screw density on the concave side could provide better outcome with respect to sagittal TK restoration.


2014 ◽  
Vol 22 (1) ◽  
pp. 193 ◽  
Author(s):  
R. Schmogrow ◽  
M. Meyer ◽  
P.C. Schindler ◽  
B. Nebendahl ◽  
M. Dreschmann ◽  
...  
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