A Novel Variable Stiffness Mechanism for Minimally Invasive Surgery using Concentric Anisotropic Tube Structure

2017 ◽  
Author(s):  
J Kim ◽  
◽  
C Kim ◽  
S Kang ◽  
K. J Cho ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Variable Stiffness ◽  
Tube Structure

A novel variable-stiffness flexible manipulator actuated by shape memory alloy for minimally invasive surgery

2018 ◽  
Vol 232 (11) ◽  
pp. 1098-1110 ◽  
Author(s):  
Yanfei Cao ◽  
Feng Ju ◽  
Lei Zhang ◽  
Dongming Bai ◽  
Fei Qi ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Shape Memory Alloy ◽  
Minimally Invasive ◽  
Shape Memory ◽  
Invasive Surgery ◽  
Variable Stiffness ◽  
Flexible Manipulator ◽  
Phase Transformation Temperature ◽  
Shape Memory Alloy Wire ◽  
Alloy Wire

This article presents a novel variable-stiffness flexible manipulator for minimally invasive surgery. Each module of the proposed manipulator contains a variable-stiffness mechanism actuated by proactive deformation of shape memory alloy. Due to low driving current, apparent mechanical deformation, suitable phase transformation temperature and biocompatibility of shape memory alloy wire actuation, it is well suited for the manipulator applied in minimally invasive surgery, where variable stiffness is urgently required. In this article, the conceptual design, elastic modulus model, thermo-electric model, stiffness controlling method and finite element method simulation for a single module of the proposed variable-stiffness flexible manipulator are presented. Moreover, the memory shape setting experiment of shape memory alloy wire and fabrication of the single module are carried out. Finally, stiffness characterizations of the mechanism and the single module are studied separately, theoretically and experimentally.

scholarly journals Magnetic Continuum Device with Variable Stiffness for Minimally Invasive Surgery

2019 ◽  
Vol 2 (6) ◽  
pp. 1900086 ◽  
Author(s):  
Christophe Chautems ◽  
Alice Tonazzini ◽  
Quentin Boehler ◽  
Seung Hee Jeong ◽  
Dario Floreano ◽  
...  
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Variable Stiffness

scholarly journals Deployable, Variable Stiffness, Cable Driven Robot for Minimally Invasive Surgery

2020 ◽  
Vol 6 ◽  
Author(s):  
Mark Runciman ◽  
James Avery ◽  
Ming Zhao ◽  
Ara Darzi ◽  
George P. Mylonas
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Variable Stiffness

V1695: Minimizing Minimally Invasive Surgery: the Three Port Robotic Pyeloplasty

2004 ◽  
Vol 171 (4S) ◽  
pp. 448-448
Author(s):  
Farjaad M. Siddiq ◽  
Patrick Villicana ◽  
Raymond J. Leveillee
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Pyeloplasty
Sign in / Sign up

Export Citation Format

Share Document