Asme Journal Tool Box
Shorya Awtar Precision Systems Design Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 Tristan T. Trutna Precision Systems Design Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 Jens M. Nielsen Precision Systems Design Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 Rosa Abani Precision Systems Design Laboratory, Department of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109 James Geiger C. Mott Children's Hospital, University of Michigan, Ann Arbor, MI 48109. This paper presents a new minimally invasive surgical (MIS) tool design paradigm that enables enhanced dexterity, intuitive control, and natural force feedback in a low-cost compact package. The paradigm is based on creating a tool frame that is attached to the surgeon’s forearm, making the tool shaft an extension of the latter.
ASCE-ASME Journal of Risk and Uncertainty in. You requested is held by the American Society of Mechanical Engineers. Dragging and repositioning the boxes.
Two additional wristlike rotational degrees of freedom (DoF) provided at an end-effector that is located at the end of the tool shaft are manually actuated via a novel parallel-kinematic virtual center mechanism at the tool input. The virtual center mechanism, made possible by the forearm-attached tool frame, creates a virtual two-DoF input joint that is coincident with the surgeon’s wrist, allowing the surgeon to rotate his/her hand with respect to his/her forearm freely and naturally. A cable transmission associated with the virtual center mechanism captures the surgeon’s wrist rotations and transmits them to the two corresponding end-effector rotations. This physical configuration allows an intuitive and ergonomic one-to-one mapping of the surgeon’s forearm and hand motions at the tool input to the end-effector motions at the tool output inside the patient’s body. Moreover, a purely mechanical construction ensures low-cost, simple design, and natural force feedback. A functional decomposition of the proposed physical configuration is carried out to identify and design key modules in the system—virtual center mechanism, tool handle and grasping actuation, end-effector and output joint, transmission system, tool frame and shaft, and forearm brace.
Development and integration of these modules leads to a proof-of-concept prototype of the new MIS tool, referred to as FlexDex™, which is then tested by a focused end-user group to evaluate its performance and obtain feedback for the next stage of technology development. Copyright in the material you requested is held by the American Society of Mechanical Engineers (unless otherwise noted). This email ability is provided as a courtesy, and by using it you agree that you are requesting the material solely for personal, non-commercial use, and that it is subject to the American Society of Mechanical Engineers' Terms of Use.
Truck Tool Box
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