Page 507 - Flexible Robotics in Medicine

502 Index

Stability (Continued) prototype, 66, 68f mechanical design of flexible
in longitudinal direction, Tendon approach, 131 138 robot, 220 222
134 135 effect of pulling/loading on Tendon-driven linkage-based
loading effect on pressure, 125 bending angle, 131 flexible robot, 220 221
measurement, 88, 89f stability, 132 135 Tendon-driven manipulator,
of prototype, 91 Tendon routed mechanism (TRM), 249 250
Stabilization mechanism, 143 144 172 Tendon-driven mechanism, 140,
Stainless steel, 158, 172, 204 205 Tendon routing and anchoring for 174 175
tensile tube, 179 cable-driven single-port surgical for surgical robots, 4 6, 5t
wires, 369, 384 385 manipulators Tendon-driven serpentine
Steer catheters, 20 attempts of variable stiffness manipulator systems, 250 251
Steerable, 366 mechanisms, 187 192 Tendon-driven spring backbones
cannula guidance, 153 considerations for and tendon fixation, 174
manipulator, 78 intramedullary bone tumor Tendons, 51 52, 109 110
sections, 104 treatment, 171f actuation force, 112
Step size calculation method, 274 constructing flexible backbone, anchors to guide, 174 179
Stepper motor, 91, 367 368, 371, 174 179 aluminum sheet guides,
372f, 373f, 374f explored concepts for actuation, 178 179
rotating cables, 381 172 173 guiding technique, 176 177
serves, 382 integration with surgical tools, hollow tube guides, 177 178
Stereolithography method, 232 179 182 lashing technique, 175 176
Stratasys Objet Connex 3D printer, motion of surgical instrument routing technique, 177
369 during single-port surgery, Tendon-sheath mechanism (TSM),
Stratasys Objet260 Connex 3D 170f 172, 179
printer, 87 prototype architecture and Tensile stress, 51, 114 115
Stylet, 155 156 testing, 182 187 of tendon wires, 439
Submuscular tissues, 102 Tendon wires, tensile stress of, 439 Tensile test
Surgery, 154 compression tests of PLA for nylon thread, 51 52
Surgical prototypes, 50 51 material, 441 for polyurethane, 52 53, 53f
Surgical tracheostomy, 102 cyclic deformation of tendon Tension springs, 211 212, 211f,
Swivel bearing, 381 wires, 440 441 211t, 212f
Swivel unit, 381 Tendon-actuated prototypes, Tentacle
SWOT analysis, 62 66, 64t 109 113, 110f, 111f, 112f, 113f, bending performance of,
118f 240 243, 241f
Tendon-driven actuation design, 236
T mechanism, 270 fabrication, 237, 238f
TangoBlack, 49, 385 386 Tendon-driven flexible with products in market,
rubber-like material, 374 375 manipulator, 250 244 245
TangoBlack-VeroClear composite Tendon-driven linkage for structure, 237
material, 49, 52 53, 53f steerable guide Thermal phase-change materials,
Target specification, 61 62, discussion 187 190
122 123, 122t bendable drill guide, Thermo-responsive hydrogel valve
Targeting accuracy, 136 137 225 227 (TRHV), 458 460, 469 470
TD1. See Transverse diameter of possible force feedback for fabrication, 459 460
nasopharynx (TD1) considerations, 227 228 hydrogel, 459
Teleoperation, 154 experimental procedure, performance, 463 466, 465f
Telescoping 222 228, 223f, 224f three-dimensional printed mold,
concentric tubes, 149 experimental results, 222 228, 458 459
precurved superelastic tubes, 224t, 225f Three-dimensional printed mold
198 experimental setup, 222 (3D printed mold), 245, 351