Page 505 - Flexible Robotics in Medicine

500 Index

Prototype (Continued) Prototyping soft origami quad- snake’s, 24 25
stability of, 91 bellows robots Reliability, 173
testing, 185 187 literature review Remote center of motion (RCM),
Prototype description, 47 51 actuation, 22 152
design components and design colonoscopy and anatomical Repeatability, 139 140, 173
rationale models, 22 24 Repulsive force, 130
bending segment, 48 49 soft robots and origami, Rigid
future prototype classification 20 22 biopsy forceps, 93
and comparisons, 50 51 methodology, 24 31 endoscopes, 291
key performance targets, 50 bellows design, 25 28 manipulators, 42 43
materials selection, 49 colon phantom, 29 31 rigid-bodied robots, 19 20
mechanical zooming segment, gait selection, 24 25 rigid/flexible scope, 366
48 material selection, 28 29, 29f scope body, 384
expected technical advantages, results and discussion sinusscope, 376
47 48 actuation of individual transmission, 105
overall design, 48 bellows unit, 31 33 Robot shape morphing, 45
in terms of elements, 68f borescope through colon Robot-assisted surgery, 269
Prototype evaluation, 163 166 model components, 33 34 Robot-assisted surgical methods,
experiment setup, 165f future directions of study, 152
orientation test with multiple 34 35 Robotic endoscopy system, 390,
insertion image overlay, 166f Proximal control system, 85 86, 393
3D printed hemispherical eye 86f actuator, 396 397
model, 164f Proximal-most segment, 81 clinical requirements, 391 393
Prototype specifications, design PT. See Percutaneous compliant arm with variable
considerations for, 44 46 tracheostomy (PT) stiffness, 393 395
anatomical measurements and Pulling effect on generating tip flexible wrist joint, 395
FlexDiamond design force, 135 136, 137f, 138f forceps, 395
dimension, 45t Pulling/loading effect on bending surgery procedure, 397
anatomical variations angle, 131 Robotic ocular surgery, 152 153
on age and gender, 45 46 PUMA robotic arm, 249 Robotic system, 197
and robot shape morphing, 45 PVC. See Polyvinyl chloride Robotic transluminal pan-and-tilt
in terms of size, 45 (PVC) scope. See also Pan-and-Tilt
estimation of distance between PVDF-HFP. See Poly(vinylidene scope (PATS)
nasal inlet to nasopharynx, 46 fluoride-co- analysis of relevant patents,
Prototyping, 24, 105 117, hexafluoropropylene) (PVDF- 378 384
208 209 HFP) approaches addressing,
description of prototype, Pyrogenicity, 57 365 366, 365f
115 117 Pythons, 24 benchmarking with needs-
device, 115 116 metrics matrix, 376 378
modifications of preferred design review
embodiments, 117 Q envisioned device indication
preferred embodiments, QZ-DCC9010 DC servo motor of use, 384 385
116 117 driver, 336 failure mode analysis,
driven platform, 208 385 386
hinge design, 114 115 design verification, 374 375
manipulator and flexible drill, R deflection, 374 375
209 Radiation-induced brain injury, viewing angles, 375, 375f
tendon-actuated prototypes, 364 device design, 366 374
109 113 Range of angle of articulation, 384 design overview, 367 369,
vacuum-actuated prototypes, RCM. See Remote center of 370f
108 109 motion (RCM) design requirement and aims,
in vivo MOJO schematic, 106f Rectilinear locomotion, 24 367