Page 502 - Flexible Robotics in Medicine

Index 497

Joystick, 183 184, 237 Magnetic resonance imaging Minimally invasive diagnostic
control, 305 (MRI), 154, 363 364 medical procedure, 474
control in x, y coordinates, 185f MAKOplasty, 1 2 Minimally invasive surgery (MIS),
high torque 360-degree servo Maneuvering process, 372 374 3, 102, 170, 195, 218, 231 232,
motors, 186f Manipulator, 78 249, 269, 327, 329, 391 392
pins, 239 240 cable-driven manipulators, 78 Fiber Bragg gratings for tactile
Joystick-assisted nasopharyngeal endoscopic, 78 feedback, 329 331
explorer (JANE), 293 endoscopic, 104 review of CTR design, 328 329
flexible, 104 actuation, 328 329
and flexible drill, 209 tube design considerations,
K related works of, 197 198 329
Karl Storz 11101, 65 snake-like slave-side robots, Minimally invasive technique,
Keratinizing squamous cell 197 102
carcinoma, 39 40 telescoping precurved Minimum yield strength, 200 203,
Kinematic model superelastic tubes, 198 201t
of CTR, 333 336 steerable, 78 MIS. See Minimally invasive
of snake-like surgical robots, 8 Market, tentacle with products in, surgery (MIS)
Kinematics and motion control 244 245 Modular design approach,
interface, 159 163, 161f Master control system, 183 184, 270 272
184f electronics module, 272
Master slave flexible manipulator module,
L architecture, 169, 182 183, 270
Laparoscopic, 195 183f motor unit module, 271
endoscopes, 245 teleoperation, 183 185 Modular origami joint operator
forceps, 179 master control system, (MOJO), 104 106, 117, 121t
surgery, 390 183 184 prior art in endoscopic
Laryngeal cancer, 418 motors and control manipulators, 104 105
Laryngoscopy, 219, 244 electronics, 184 185 claims, 144
Laser probes, 151 152, 151f Maximum yield strength, design and prototyping,
Lashing technique, 175 176 199 200, 200f, 200t, 201f 105 117
Layer jamming mechanism, Mechanical design of flexible design rationale and
191 192 robot, 220 222, 220f specifications, 105 117
Learning method, 12 Mechanical strength tests, 51 54 key performance targets,
Lichteiter tube, 365 366 tensile test 118 119
Light pipes, 150 151 for nylon thread, 51 52 needs metrics mapping
Liquid nitrogen, 180 for polyurethane and matrix, 119 123
Liquid wax, 190 TangoBlack-VeroClear design review
Literal infringement, 94 composite material, 52 53 feasibility, 140
Loading effect on pressure, 125 three-point bending test for review results, 140, 141t
Longitudinal direction, dynamic diamond-cut design, design validation, 123 140
stability in, 134 135 53 54 absolute deviation, 140
Longitudinal displacement, Mechanical zooming segment, 48 repeatability, 139 140
disturbance force effect on, functionality, 54 55, 56f,57f design verification
132 134, 136f Medical grade stainless steel, 386 pneumatics, 123 130
Lower gastrointestinal tract, Medrobotic FLEX system, 197 setup, 123, 124f
77 78 Mesh, 259 tendon approach, 131 138
Lumped-parameter model, 8 Metrics, 59 patents benchmarking and
benchmarking, 60 61, 93, 93t, remarks, 140 146
121, 377 tracheostomy, 101 102
M table, 89 90, 90t, 119, 376 transoral endoscopes, 103 104
Magnetic actuators, 350 Miniaturization, 197 unmet needs, 102 103