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E-raamat: Flexible Robotics in Medicine: A Design Journey of Motion Generation Mechanisms and Biorobotic System Development

(Assistant Professor, Biomedical Engineering Department, National University of Singapore (NUS), Singapore)
  • Formaat: EPUB+DRM
  • Ilmumisaeg: 20-Jun-2020
  • Kirjastus: Academic Press Inc
  • Keel: eng
  • ISBN-13: 9780128165560
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Flexible Robotics in Medicine: A Design Journey of Motion Generation Mechanisms and Biorobotic System DevelopmentSuurem pilt
  • Formaat: EPUB+DRM
  • Ilmumisaeg: 20-Jun-2020
  • Kirjastus: Academic Press Inc
  • Keel: eng
  • ISBN-13: 9780128165560
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Flexible Robotics in Medicine: A Design Journey of Motion Generation Mechanisms and Biorobotic System Development provides a resource of knowledge and successful prototypes regarding flexible robots in medicine. With specialists in the medical field increasingly utilizing robotics in medical procedures, it is vital to improve current knowledge regarding technologies available. This book covers the background, medical requirements, biomedical engineering principles, and new research on soft robots, including general flexible robotic systems, design specifications, design rationale, fabrication, verification experiments, actuators and sensors in flexible medical robotic systems.

Presenting several projects as examples, the authors also discuss the pipeline to develop a medical robotic system, including important milestones such as involved regulations, device classifications and medical standards.

  • Covers realistic prototypes, experimental protocols and design procedures for engineering flexible medical robotics
  • Covers the full product development pipeline for engineering new flexible robots for medical applications, including design principles and design verifications
  • Includes detailed information for application and development of several types of robots, including Handheld Concentric-Tube Flexible Robot for Intraocular Procedures, a Preliminary Robotic Surgery Platform with Multiple Section Tendon-Driven Mechanism, a Flexible Drill for Minimally Invasive Transoral Surgical Robotic System, Four-Tendon-Driven Flexible Manipulators, Slim Single-port Surgical Manipulator with Spring Backbones and Catheter-size Channels, and much more
List of Contributors
xiii
Preface: A design journey of biorobotic motion generation mechanisms and flexible continuum system development xvii
Chapter 1 Slender snake-like endoscopic robots in surgery
1(18)
Shumei Yu
Wenjun Xu
Hongliang Ren
1.1 Introduction
1(1)
1.2 Snake-like robots for surgery
2(5)
1.3 Modeling of snake-like surgical robots
7(2)
1.4 Human---machine interaction
9(3)
1.5 Conclusion
12(1)
References
13(6)
Chapter 2 Prototyping soft origami quad-bellows robots from single-bellows characterization
19(20)
Marcia J.T. Lee
Bok Seng Yeow
Zion Tsz Ho Tse
Hongliang Ren
2.1 Introduction
19(1)
2.2 Literature review
20(4)
2.3 Methodology
24(7)
2.4 Results and discussion
31(4)
2.5 Conclusion
35(1)
Acknowledgment
36(1)
References
36(3)
Chapter 3 Cable-driven flexible endoscope utilizing diamond-shaped perforations: FlexDiamond
39(38)
Bok Seng Yeow
Yan Bing Soh
Hui-Min Chua
Jun Hao Edmund Ong
Jing Chun Teo
Wei Yang Un
Chwee Ming Lim
Hongliang Ren
3.1 Clinical background of nasopharyngeal carcinoma
39(5)
3.2 Specifications and instrumentation
44(3)
3.3 Prototype description
47(4)
3.4 Design verification
51(8)
3.5 Design specifications, review, and benchmarking
59(9)
3.6 Patent analysis
68(3)
3.7 Conclusion
71(3)
Acknowledgment
74(1)
References
74(3)
Chapter 4 Flexible steerable manipulator utilizing complementary configuration of multiple routing grooves and ball joints for stable omnidirectional bending
77(24)
Denise Ying
Darren Poh
Li Ting
Lui Marius
Vanessa Tiew
Zion Tsz Ho Tse
Hongliang Ren
4.1 Introduction
77(2)
4.2 Methods
79(8)
4.3 Design verification
87(6)
4.4 Patentability analysis
93(4)
4.5 Conclusion and future developments
97(1)
References
98(3)
Chapter 5 Modular origami joint operator to create bendable motions with multiple radii
101(48)
Abigail Thomson
Calvin Tan Song Hao
Lim Wei Han Darius
Ong Yanhui
Annabelle Ong
Pivatidevi Pareatumbee
Zion Tsz Ho Tse
Chwee Ming Lim
Hongliang Ren
5.1 Introduction
101(4)
5.2 Design and prototyping
105(12)
5.3 Design rationale and specifications
117(6)
5.4 Design verification and validation
123(17)
5.5 Further patents benchmarking and remarks
140(6)
5.6 Conclusion remarks and future work
146(1)
Acknowledgment
147(1)
References
147(2)
Chapter 6 Handheld flexible robot with concentric tubes aiming for intraocular procedures
149(20)
Benedict Tan
Liao Wu
Hongliang Ren
6.1 Introduction
149(4)
6.2 Concentric tube robots
153(4)
6.3 Intraocular concentric tube robot prototype design
157(2)
6.4 Kinematics and motion control interface
159(4)
6.5 Evaluation of prototype
163(3)
6.6 Conclusion
166(1)
References
166(3)
Chapter 7 Tendon routing and anchoring for cable-driven single-port surgical manipulators with spring backbones and luminal constraints
169(26)
Seenivasan Lalithkumar
Xinchen Cai
Krishna Ramachandra
Francis Wong
Hongliang Ren
7.1 Introduction
169(3)
7.2 Explored concepts for actuation
172(2)
7.3 Constructing the flexible backbone
174(5)
7.4 Integration with surgical tools
179(3)
7.5 Prototype architecture and testing
182(5)
7.6 Attempts at variable stiffness mechanisms
187(5)
7.7 Conclusion
192(1)
Acknowledgments
193(1)
References
193(2)
Chapter 8 Compliant bending tubular mechanisms with variable groove patterns for flexible robotic drilling delivery
195(22)
Xiao Xiao
Zhi Peng Tan
Hongliang Ren
8.1 Introduction
195(1)
8.2 Literature review
196(2)
8.3 Bending tube mechanism with groove cutting designs
198(7)
8.4 Bending tube mechanism with modular sections
205(6)
8.5 Other trials and errors
211(3)
8.6 Conclusion
214(1)
Acknowledgment
214(1)
References
214(1)
Further reading
215(2)
Chapter 9 Tendon-driven linkage for steerable guide of flexible bending manipulation
217(14)
Quanquan Liu
Ng Chiu Ping
Hongliang Ren
9.1 Introduction
218(2)
9.2 Mechanical design of the flexible robot
220(2)
9.3 Experimental procedure and results
222(6)
9.4 Conclusions and future work
228(1)
Acknowledgment
228(1)
References
229(2)
Chapter 10 Soft-bodied flexible bending mechanism with silent shape memory alloys aiming for robotic endoscopy
231(18)
Manivannan Sivaperuman Kalairaj
Tan Ze Feng
Hongliang Ren
10.1 Introduction
231(3)
10.2 Materials and methods
234(6)
10.3 Results
240(3)
10.4 Discussions
243(2)
10.5 Conclusion
245(1)
References
246(3)
Chapter 11 Comparative mechanical analysis for flexible bending manipulators with quad-tendon antagonistic pairs
249(20)
Wenjun Xu
Deren Meng
Hongliang Ren
11.1 Introduction
249(1)
11.2 Related work
250(3)
11.3 Overview of the mechanism of paired tendon-driven manipulator
253(3)
11.4 Simulation of different designs using the finite element method
256(3)
11.5 Analysis of difference among different designs
259(5)
11.6 Prototype and experiment
264(2)
11.7 Conclusion and recommendation for the future study
266(1)
References
266(3)
Chapter 12 Flexible robotic platform with multiple-bending tendon-driven mechanism
269(20)
Wenjun Xu
Adib Ridzuan Bin Mohamad Roslan
Hongliang Ren
12.1 Introduction
269(1)
12.2 Design principles and qualifications
270(6)
12.3 Prototype fabrication
276(3)
12.4 Prototype analysis and characteristic study
279(7)
12.5 Discussion
286(1)
12.6 Conclusion
287(1)
Acknowledgment
287(1)
References
287(2)
Chapter 13 Design evolution of a flexible robotic bending end-effector for transluminal explorations
289(38)
U-Jin Joshua Cheah
Pin Rong Tan
Zhongren Thaddaeus Ong
Angelique Huan
Muhammad Amzar Bin Mohd Faisal
Zion Tsz Ho Tse
Chwee Ming Lim
Hongliang Ren
13.1 Introduction
289(2)
13.2 Prior art and design criteria
291(2)
13.3 Prototype overall assembly and architecture
293(4)
13.4 Design components and rationale
297(6)
13.5 Motion specifications and transmission instrumentation
303(5)
13.6 Design verification
308(8)
13.7 Design review, specification, and benchmarking
316(8)
13.8 Conclusion
324(1)
References
325(1)
Further reading
325(2)
Chapter 14 Force sensing in compact concentric tube mechanism with optical fibers
327(22)
Niam Jen Yang
Tianliang Li
Xiao Xiao
Zion Tsz Ho Tse
Chwee Ming Lim
Hongliang Ren
14.1 Introduction
327(1)
14.2 Literature review
328(3)
14.3 Concentric tube robot design
331(2)
14.4 Kinematic model
333(3)
14.5 Control system
336(3)
14.6 Force sensing tip
339(3)
14.7 Experiment
342(3)
14.8 Conclusion and future work
345(1)
Acknowledgment
346(1)
References
346(3)
Chapter 15 Electromechanical characterization of magnetic responsive and conductive soft polymer actuators
349(14)
A. W. Gan
Kirthika Senthil Kumar
Lei Zhang
Jianyong Ouyang
Hongliang Ren
15.1 Introduction
349(1)
15.2 Experimental setup
350(2)
15.3 Results and discussion
352(8)
15.4 Conclusion
360(1)
References
360(3)
Chapter 16 Robotic transluminal Pan-and-Tilt Scope
363(26)
Wong Wei Min
Lau Jin Yue
Yeo Xi Shun Edward
Wong Jia Ying
Chwee Ming Lim
Hongliang Ren
16.1 Introduction
363(3)
16.2 Device design
366(8)
16.3 Design verification
374(2)
16.4 Benchmarking with needs-metrics matrix
376(2)
16.5 Detailed analysis of relevant patents
378(6)
16.6 Design review
384(2)
16.7 Conclusion and future developments
386(1)
Acknowledgment
387(1)
References
387(2)
Chapter 17 Single-port multichannel multi-degree-of-freedom robot with variable stiffness for natural orifice transluminal endoscopic surgery
389(12)
Changsheng Li
Xiao Xiao
Xiaoyi Gu
Feng Jie
Shanmugam Sangeetha
Toon Zhu Wei Joelle
Trevor Tan Wei Kiat
Hongliang Ren
17.1 Introduction
389(2)
17.2 Robotic endoscopy system
391(6)
17.3 Experiment and results
397(1)
17.4 Conclusion and discussion
397(1)
Acknowledgment
398(1)
References
398(3)
Chapter 18 EndoGoose: a flexible and steerable endoscopic forceps with actively pose-retaining bendable sections
401(16)
Liting Pang
Ngu Tzce Chuing
Joyce Yeo Ling Li
Joe Tan Wei Wen
Dinesh Manivannan
Manivannan Sivaperuman Kalairaj
Hongliang Ren
18.1 Introduction
401(3)
18.2 Methods
404(4)
18.3 Design parameter verification
408(2)
18.4 Analysis of needs and metrics
410(3)
18.5 Conclusion
413(1)
Acknowledgment
414(1)
References
414(3)
Chapter 19 Flexible drill manipulator utilizing different rolling sliding joints for transoral drilling through the tracheal tissue
417(38)
Shiming Lin
Lu Ri
Lim Xue Lun
Chwee Ming Lim
Hongliang Ren
19.1 Clinical needs
417(2)
19.2 Limitations of the current devices
419(2)
19.3 Goldrill device: flexible endotracheal drill
421(9)
19.4 Needs matrix and technical advantages
430(5)
19.5 Evolution of prototype versions
435(4)
19.6 Design verification tests
439(7)
19.7 Future developments
446(1)
19.8 Supplementary summary
447(6)
Acknowledgment
453(1)
References
453(2)
Chapter 20 Thermo-responsive hydrogel-based circular valve embedded with shape-memory actuators
455(18)
Manivannan Sivaperuman Kalairaj
Hritwick Banerjee
Keith Gerard Lopez
Hongliang Ren
20.1 Introduction
455(3)
20.2 Materials and methods
458(5)
20.3 Results
463(6)
20.4 Discussion
469(2)
20.5 Conclusion and future work
471(1)
References
471(2)
Chapter 21 Omni Flex: omnidirectional flexible hand-held endoscopic manipulator with spheroidal joint
473(18)
Hritwick Banerjee
Low Rui Qi
Joel Tan Xian Zheng
Bryan Chua
Pham Tan Hung
Hongliang Ren
21.1 Introduction
473(4)
21.2 System design and fabrication
477(5)
21.3 Key features
482(1)
21.4 Benchmarking
483(1)
21.5 Design verification tests
484(4)
21.6 Conclusion
488(1)
References
488(3)
Index 491
Hongliang Ren is an associate professor at the Electronic Engineering Department, The Chinese University of Hong Kong (CUHK), Hong Kong and adjunct associate professor at the Department of Biomedical Engineering, National University of Singapore. He served as an associate editor for IEEE Transactions on Automation Science & Engineering (T-ASE) and Medical & Biological Engineering & Computing (MBEC). He has navigated his academic journey through the Chinese University of Hong Kong, Johns Hopkins University, Childrens Hospital Boston, Harvard Medical School, Childrens National Medical Center, United States, and the National University of Singapore. He is currently Associate Professor, Department of Electronic Engineering at the Chinese University of Hong Kong, and Adjunct Associate Professor, Department of Biomedical Engineering at the National University of Singapore. His areas of interest include biorobotics, intelligent control, medical mechatronics, soft continuum robots, soft sensors, and multisensory learning in medical robotics.
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