Page 508 - Flexible Robotics in Medicine

Index 503

SMAHV, 460 461 Transverse diameter of V
TRHV, 458 459 nasopharynx (TD1), 45 46
Vacuum-actuated prototypes (VA
Three-dimensional printing (3D TRHV. See Thermo-responsive
prototypes), 107f, 108 109,
printing), 85 hydrogel valve (TRHV)
108f, 109f
printed prototype using Ninja TRM. See Tendon routed pneumatic casing, 109
Flex, 213 mechanism (TRM) Variable stiffness
printing filament, 213 TSM. See Tendon-sheath compliant arm with, 393 395
Three-point bending test for mechanism (TSM) mechanisms, 187 192, 188t
diamond-cut design, 53 54, 55f TT. See Transoral tracheotomy
design thinking framework,
Thyroid isthmus, 102 (TT)
188 189
Tilting mechanism, 370, 381 Tubes, 157 158
flexible and compliant
neutral configuration, 371f materials of tubes and parts, 158
backbone vs. rigid
Total bending angle, 92, 92f motion driving system, 158,
backbone, 190f
Trachea, 101 102, 218 158f
layer jamming mechanism,
Tracheostomy, 101 102, specifications, 157
191 192
195 196, 218, 218f, 221f, 222f, Two-degree-of-freedom
surgical instrument, 187f
418 mechanism (2-DOF
thermal phase-change
clinical needs, 417 419 mechanism), 328 329
materials, 189 190
BPD, 418 419
VeroClear, 386
laryngeal cancer, 418 composite, 49
design verification tests, U
plastic, 295 296
439 446 Ultrahigh molecular weight
Visual servo, 12
INSTRON tests, 439 441 polyethylene (UHMWPE), 302
Visualization, 197
evolution of prototype versions, Ultrasound
Vitrector, 151 152
435 439 imaging, 103
Vitreoretinal surgery, 150, 150f
Goldrill device, 421 429 technology, 231 232
Voltage effect on pressure, 125,
limitations of current devices, Undifferentiated carcinoma, 39 40
127f
419 421 US. See User specifications (US)
V-shaped element model, 108
Blue Rhino dilator, 420 421 US 20130060087 A1 rigid scope
current instruments, 419 421 apparatus
percutaneous tracheostomy, assessment, 384 W
419 key claims, 384 Wax, 189 190
needs matrix and technical US 20140249369 A1 imaging wax-based locking mechanism,
advantages, 430 434 apparatus and rigid endoscope
187 188
drilling force on trachea, 431 assessment, 383
Weight-bearing test, 283
flexible manipulation within key claims, 383
Whiplash effect, 92
trachea, 430 US 20140275785 A1 apparatus for
Windpipe. See Trachea
stability of bending segment, wiping angled window of
Wire-driven multi-DOF forceps
431 endoscope, 381
manipulator, 218 219
stability of drilling tip, 430 US 7713189 B2 video endoscope
Workspace
strength of tendon wires, with rotatable video camera
requirements, 157
432 434 assessment, 381
visualization, 55 56
Transistors, 239 240 key claims, 381
Translation US20140012080 A1 endoscopic
axis, 154 camera and endoscopic device Y
motor, 156 assessment, 383
Young’s modulus, 51
Translucent parts, 369 key claims, 382
Transluminal cavity, 79 US6464631 B1 endoscope with
Transoral endoscopes, 103 104 pannable camera Z
Transoral surgeries, 244 assessment, 382
Zeus system, 197
Transoral tracheostomy, 116 key claims, 382
Transoral tracheotomy (TT), 105 User specifications (US), 59