Page 501 - Flexible Robotics in Medicine

496 Index

GCT. See Giant cell tumor (GCT) H by Doctrine of Equivalence, 94
Gelatin, 223 Infusion cannula, 151
Handheld flexible robot with
General endoscopic technology, Innovative handheld flexible robot
concentric tubes aiming for
93 94 design, 149
intraocular procedures
Generalized Cosserat-rod-based concentric tube robot actuation INSTRON tests, 439 441
kinetostatic model, 10 design, 153 157 animal cartilage, 446
GI tract. See Gastrointestinal tract evaluation of prototype, comparison with gold finger,
(GI tract) 163 166 446
Giant cell tumor (GCT), 169 170 force and vibration tests with
intraocular concentric tube robot
Glidescope Video laryngoscope, OptoForce, 441 446
prototype design, 157 159
244 tensile stress of tendon wires,
intraocular surgery, 150 152
Goldfinger retractor inspiration, 439
kinematics and motion control
205 207, 206f, 207f Integration with surgical tools,
interface, 159 163
Goldrill device, 421 429, 425f 179 182
robotic ocular surgery, 152 153
bending segment, 424 426 electrocautery, 180 182
Handheld steerable needle, 157
conceptual design of Goldrill forceps, 179 180
Hemorrhage, 195 196
GR3 handle, 447f Intralesional curettage procedure,
Hinge design, 113f, 114 115, 114t
cut design selection in terms of 169 170
HiQ hand instruments, 250
interface sliding and Intraocular concentric tube
HMM disposable biopsy forceps,
detachment, 426 427 robot design
403
drilling needle, 424 dimensions of current
Hollow tube guides, 177 178,
handle part, 424 concentric tube robots, 157
178f
isometric view of flexible cable- portability, 157
Home-based nasopharyngoscope,
driven drill manipulator shaft, tube specifications, 157
41
448f robot prototype design
Home-based self-administered
tip designs, 428 429 casing, 159
steerable endoscope, 366
wire placement and cross- materials of tubes and parts,
Human error, 196
sectional shape selection, 158
Human machine interaction,
427 428 tube motion driving system,
9 12
Goldrill GR3 design, 430, 433f, control, 11 12 158
434f, 436f, 446 controllers and evolution, 12 tubes, 157 158
Google, 70 controlling variables, 11 workspace requirements, 157
Gooseneck, 405 406 motion planning, 10 11 Intraocular procedures, 149
Groove, 381 Intraocular surgery, 150 152
shape/force sensing, 9 10
Groove cutting designs, bending chandelier lighting, 151
Hydraulic pressure, 78
tube mechanism with, 198 205 infusion cannula, 151
Hydrogels, 456 457, 459, 461
bending tube design, 198, 199f light pipes, 150 151
Hypopharynx, 289 290
preliminary experiments, vitrector, 151 152
Hysteresis, 172
203 205, 204f, 204t, 205f Intrinsic force sensing, 10
simulations Ionic liquid (IL), 350
nitinol tube cutting fishbone- I Ionic polymer-metal composite,
like design 1, 198 IL. See Ionic liquid (IL) 173
simulation result using Imaging techniques, 366 367
maximum yield strength, Inchworm and caterpillar
199 200 locomotion, 20 J
simulation result using Inchworm robot prototype, 20 Jamming techniques, 188
minimum yield strength, Indirect nasopharyngoscopy, 40 JANE. See Joystick-assisted
200 203 Individual bending segment, 92 nasopharyngeal explorer (JANE)
Guiding technique, 176 177 Indwelling urinary catheter, Jaw strength, 91
soldering aluminum wire to 455 456 Joint types for bending, 197
circumference of spring, 176f Infringement, 94 Joule heating, 233