Page 497 - Flexible Robotics in Medicine

492 Index

Bending (Continued) design verification related works of manipulators,
voltage effect on pressure, biocompatibility test, 57 197 198
125 design verification tests and robotic system, 197
performance of tentacle, associated acceptance with modular sections, 205 210
240 243, 241f, 243f criteria, 57 58 objective, 196
segment, 48 49, 49f finite element analysis, trials and errors
tube mechanism 56 57 compression and tension
with groove cutting designs, functionality test, 54 55 springs, 211 212
198 205 mechanical strength tests, polyimide medical tubing,
with modular sections, 51 54 212 213
205 210 workspace visualization, 3D printed prototype using
Bending end-effector (BEE), 292 55 56 Ninja Flex, 213
Bent shape, 150 151 patents analysis, 68 71 Compressible steerable spring
Biocompatibility, 386 prototype description, 47 51 mechanism, 211
test, 57 specifications and Compression
Biomimetic robots, 232 instrumentation springs, 211 212, 211f, 211t,
Biomimicry, 19 20 approach, 46 212f
Biopsy, 77 79 design considerations for tests of polylactic acid material,
forceps design, 477 478 prototype specifications, 441
needle, 156 44 46 Computed tomography, 363 364
procedures, 403 function of prototype, 46 47 Concentric rigid flexible coupling
sample volume, 88, 88f user needs, 44 mechanisms, 218 219
test, 487 488 Cadaveric testing, 285 286 Concentric tube robots (CTRs),
Bipedalism, 232 Camera holder, 368 369 149, 164f, 327
Bistable property, 115 116 Camera module, 368 369 actuation design
Bleeding, complication, 103 Cancerous cells, 363 364 challenges in intraocular
Blue Rhino dilator, 420 421 Cannula, 155 156 concentric tube robot
Boas, 24 Cantonese cancer, 39 40 design, 157
Borescope through colon model Carcinogenicity, 57 concentric tube stiffness, 156
components, 33 34, 33f,34f Casing, 159, 159f, 160f design considerations, 156
Bowden cables, 179 180 Catalyst, 29 manually actuated, 153 154
Brachymesocholic sigmoid Caterpillar locomotion, 20 motor actuated, 154 156
mesocolon, 23 Cauterization, 181 design
Bronchopulmonary dysplasia Caveat of manual CTRs, 153 DC motor gear assembly,
(BPD), 418 419 Cavities, 231 232 332 333
Bronchoscope, 102 CBI. See Continuous bladder tube configuration, 331
irrigation (CBI) tube driving system, 331 332
Chandelier lighting, 151 Concentric tubes, 156
C Ciaglia technique, 116 manipulator, 218 219
Cable-driven actuation, 172 Clove hitch knot, 175 176 stiffness, 156
Cable-driven articulations, 105 Colon model components, Concertina locomotion, snake’s, 25
Cable-driven manipulators, 42 43, borescope through, 33 34 Conductive PEDOT:PSS, 350
78, 83f Colonoscopy, 21 25, 475 Constrained Kalman filtering
Cable-driven flexible endoscope Compliant bending tubular algorithm, 9 10
utilizing diamond-shaped mechanisms with variable Continuous bladder irrigation
perforations groove patterns (CBI), 455 456
clinical background of NPC, with groove cutting designs, Continuum actuation technologies,
39 44 198 205 22
design specifications, review, literature review, 196 198 Continuum flexible endoscopes, 43
and benchmarking, 59 67 joint types for bending, 197 Continuum robots, 2, 249