Page 506 - Flexible Robotics in Medicine

Index 501

orientation actuation Shape memory alloy, 197, typical mechanical design,
components and rationale, 291 292 4 7
370 374 Shape memory alloy actuated SMA. See Shape memory alloy
unmet needs, 364 365 hydrogel valve (SMAHV), (SMA); Smart material actuation
Robust testing for development, 457 458, 460 463 (SMA)
287 fabrication, 462 463 SMAHV. See Shape memory
Rotatable video camera, US hydrogel, 461 alloy actuated hydrogel valve
7713189 B2 video endoscope performance, 466 469, 466f (SMAHV)
with, 381 SMA spring-based, Smart material actuation (SMA),
Rotating shaft, 382 468 469 173
Rotation SMA wire-based, 467 468 Smooth-On Dragon Skin, 29
device, 382 3D printed mold, 460 461 Snake, 24
driving unit, 382 Shape-lock ability, 482 concertina locomotion, 25
element, 381 Shear lashing technique, 175 rectilinear locomotion, 24 25
mechanism, 371 374, 373f Sheath, 367, 374 375 snake-like slave-side robots, 197
Routing technique, 177, 177f Sheet metal guide, 178 179, 178f Soft cylindrical robots, 20
Sidewinding movement, 24 Soft robots, 7, 19 22, 232
Sigmoid colon, 23, 31 Soft-bodied flexible bending
S segment, 23 24 mechanism
Sagittal diameter of nasopharynx Silicon rubber, 190 bending performance of tentacle,
(SD1), 45 46 Silicone, 232 240 243
Satisfaction benchmarking, 61, 61t, elastomer, 236 237, 240 comparison of actuation
62t,63t, 122, 122t, 378 polymer, 29 methods, 234t
SCARA robotic arm, 249 rubber, 29, 209 materials and methods
SD1. See Sagittal diameter of skins, 21 control setup, 237 240, 239f
nasopharynx (SD1) Single-port multichannel multi- design of tentacle, 236
SDM. See Shape deposition degree-of-freedom robot. fabrication of tentacle, 237
manufacturing (SDM) See also Slender snake-like silicone elastomer, 236 237
Sealing efficiency, 189 endoscopic robots SMA, 234 235
Search strategy, 70 71, 141 142, experiment and results, 397 power/weight ratio of different
142t robotic endoscopy system, actuators, 233f
US 20020032368 A1 patent 391 397 tentacle with products in market,
analysis, 73t with variable stiffness, 393 244 245
US 8007434 B2 patent analysis, Single-task robots, 152 Solder-based mechanism, 189,
72t Sleep disorders, 474 189t, 192
US6458075 patent analysis, 73t Slender snake-like endoscopic locking mechanism, 187 188
US6520214 patent analysis, 72t robots. See also Single-port Solid wax, 190
Segmented flexible endoscopes, 43 multichannel multi-degree-of- Spring backbones, 182 183,
Self-administered freedom robot 189 190, 192
nasopharyngoscope, 41 human machine interaction, Square lashing technique,
Self-retaining system, 151 9 12 175 176
Sensitization tests, 57 modeling of snake-like surgical Stability, 125 130, 132 135
Serpentine movement, 24 robots, 7 9 disturbance force effect
Servo motor, 184 185, 367 368, hysteresis and compensation, on lateral displacement,
370, 371f, 372f, 381 9 125 130, 132
Shape deposition manufacturing kinematics, 8 on longitudinal displacement,
(SDM), 232 statics and dynamics, 8 132 134
Shape memory alloy (SMA), 78, for surgery, 2 7 of drilling tip, 430
172, 219, 232 235, 235f, 236f, commercial products, 3 4 dynamic stability
461 462 novel design and platforms, 7 in lateral direction, 134