Page 498 - Flexible Robotics in Medicine

Index 493

Control mechanism, 93 94 connector, 300 302 Discontinuous phase transitions,
Control setup, 237 240 main conduit, 299 300 21 22
Conventional endoscopy systems, material selection, 302 Disk-tube design, 255 256
390 design review, specification, and Disk-wire design, 256
Cook flexible biopsy forceps, 403 benchmarking, 318 325 analysis, 263
Cosserat Rod Theory, 8 checklist for fulfillment of Distal connector segment, 80,
Crab-like sideways movement, 232 design acceptance criteria, 84 85, 85f
Crawling motion, 232 323t Distal tip strength, 91
Cricoid cartilage, 102 competitive advantages, Distal-most segment, 81
Cryosurgery, 180 322 325 Disturbance force effect
CSA1. See Airway cross-sectional design failure mode and effect on lateral displacement,
area of nasopharynx (CSA1) analysis, 325 125 130, 130f, 132, 133f
CTRs. See Concentric tube robots DFMEA and mitigations, on longitudinal displacement,
(CTRs) 324t 132 134, 134f
Curvilinear trachea, 114 main difference in structure of DMF. See Dimethylformamide
Cyclic deformation of tendon endoscope components, 322 (DMF)
wires, 440 441 design verification, 308 317 DMSO. See Dimethyl sulfoxide
Cylindrical robots, 19 20 design parameter verification, (DMSO)
Cytotoxicity, 57 308 313 DOF. See Degrees of freedom
mechanical analysis of design, (DOF)
314 317 Domination-stiffness tube pair, 156
D motion specifications and Drag-based fluidic actuators, 172
Da Vinci robot, 250 transmission instrumentation, Drill-guide system, 223
Da Vinci SP system, 218 219 303 307 Drilling process, 139 140
Da Vinci surgical system, 105, electronic components, 305 Driven platform, 208, 208f
152, 197 joystick control, 305 Dynamic model based methods, 2
DC motor gear assembly, prototype factors, 305 307 Dynamic stability
332 333 rotational motion to tip in lateral direction, 134
Deflection, 374 375 bending, 303 304 in longitudinal direction,
angle, 123 translational motion, 304 134 135
deflection-based force sensing, prototype overall assembly and
10 architecture, 293 297
Deformation-shear stress analysis, design process, 294 297 E
263 final prototype design, 297 EAIs. See Endoscope accessory
Degrees of freedom (DOF), 4 6, Design failure mode and effect instruments (EAIs)
42 43, 104, 152, 197, analysis (DFMEA), 324t, 325, EAP. See Electroactive polymer
218 219, 249, 269 270, 391, 410, 411t (EAP)
475 476 Design-centric approach, Ear nose, and throat (ENT), 62,
Delocalized actuation, 105 170 171, 174 364
Denavit Hartenberg method D H method. Earthworm locomotion, 21
(D H method), 275 See Denavit Hartenberg EBV. See Epstein Barr virus
transformation matrix, 275 276 method (D H method) (EBV)
Deported actuation, 105 Diamond-cut design, three-point Ecoflex 00 30 silicone elastomer,
Design evolution of flexible bending test for, 53 54 236 237
robotic bending end-effector Diamond-shaped perforations, 69 Eight-millimeter robotic
prior art and design criteria, Dimethyl sulfoxide (DMSO), 354 instrumentation, 244
291 292 Dimethylformamide (DMF), 351 Elastic fluidic actuators, 172 173
design components and Dipole electrocautery, 180 181 Elastic materials, 69 70
rationale, 297 302 Direct nasopharyngoscopy, 40 Elastomeric membranes, 191 192
camera holder, 297 298 Directional laser probes, 157 158 Elastomers, 231 235