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Proceedings Papers

Modeling of an Electroactive Steerable End-Effector for Minimally Invasive Surgery

William M. Aguilera, Mary I. Frecker, Randy Haluck
Proc. ASME. IDETC-CIE2001, Volume 2A: 27th Design Automation Conference, 451-458, September 9–12, 2001
Paper No: DETC2001/DAC-21056
https://doi.org/10.1115/DETC2001/DAC-21056
View Paper titled, Modeling of an Electroactive Steerable End-Effector for Minimally Invasive Surgery
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Topics: End effectors, Modeling, Surgery, Deflection, Piezoelectric ceramics, Actuators, Design, Electric fields, Active materials, Conducting polymers
Proceedings Papers

Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint

Carl A. Nelson, Cole A. Dempsey, Ethan R. Brush, M. Amine Laribi
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A014, August 18–21, 2019
Paper No: DETC2019-97981
https://doi.org/10.1115/DETC2019-97981
View Paper titled, Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint
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Topics: Design, Robots, Rolling contact, Surgery, Bevel gears, Collisions (Physics), Human-robot interaction, Safety, Surgical tools
Proceedings Papers

Design of a Robotic Cannula for Robotic Lumber Discectomy

Yang Ding, Benjamin V. Johnson, David J. Cappelleri
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A034, August 18–21, 2019
Paper No: DETC2019-97365
https://doi.org/10.1115/DETC2019-97365
View Paper titled, Design of a Robotic Cannula for Robotic Lumber Discectomy
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Topics: Design, Discectomies, Lumber, Robotics, Instrumentation, Rotation, Surgery, Control equipment, Design engineering, Disks
Proceedings Papers

Cylindrical Developable Mechanisms for Minimally Invasive Surgical Instruments

Kenny Seymour, Jacob Sheffield, Spencer P. Magleby, Larry L. Howell
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A054, August 18–21, 2019
Paper No: DETC2019-97202
https://doi.org/10.1115/DETC2019-97202
View Paper titled, Cylindrical Developable Mechanisms for Minimally Invasive Surgical Instruments
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Topics: Design, Instrumentation, Kinematics, Surgery, Surgical tools
Proceedings Papers

A 3D-Printed Needle Driver Based on Auxetic Structure and Inchworm Kinematics

A. Pfeil, L. Barbé, B. Wach, A. Bruyas, F. Geiskopf, M. Nierenberger, P. Renaud
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A057, August 26–29, 2018
Paper No: DETC2018-85371
https://doi.org/10.1115/DETC2018-85371
View Paper titled, A 3D-Printed Needle Driver Based on Auxetic Structure and Inchworm Kinematics
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Topics: Additive manufacturing, Kinematics, Needles, Actuators, Imaging, Magnetic resonance imaging, Displacement, Modeling, Pressure, Safety
Proceedings Papers

Design of Disposable 3D Printed Surgical End-Effectors for Robotic Lumbar Discectomy Procedures

Benjamin V. Johnson, Zekun Gong, Brian A. Cole, David J. Cappelleri
Proc. ASME. IDETC-CIE2018, Volume 5A: 42nd Mechanisms and Robotics Conference, V05AT07A055, August 26–29, 2018
Paper No: DETC2018-85257
https://doi.org/10.1115/DETC2018-85257
View Paper titled, Design of Disposable 3D Printed Surgical End-Effectors for Robotic Lumbar Discectomy Procedures
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Topics: Additive manufacturing, Design, Discectomies, End effectors, Robotics, Surgery, Instrumentation, Cables, Disks, Fatigue testing
Proceedings Papers

Motor Skill Evaluation During Robot-Assisted Surgery

Somayeh B. Shafiei, Lora Cavuoto, Khurshid A. Guru
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A062, August 6–9, 2017
Paper No: DETC2017-67607
https://doi.org/10.1115/DETC2017-67607
View Paper titled, Motor Skill Evaluation During Robot-Assisted Surgery
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Topics: Engines, Motors, Robots, Surgery, End effectors, Control systems, Kinematics, Motor controls, Needles, Robotics
Proceedings Papers

Use of Numerical-Clustering Framework for End-Effector Tracking During Robot-Assisted Surgery

Somayeh B. Shafiei, Khurshid A. Guru
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A063, August 6–9, 2017
Paper No: DETC2017-67616
https://doi.org/10.1115/DETC2017-67616
View Paper titled, Use of Numerical-Clustering Framework for End-Effector Tracking During Robot-Assisted Surgery
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Topics: End effectors, Robots, Surgery, Biomedical imaging, Instrumentation, Biological tissues, Robotics, Biomedicine, Cancer, Computer simulation
Proceedings Papers

Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application

Guochao Bai, Peng Qi, Kaspar Althoefer, Duanling Li, Xianwen Kong, Jian S. Dai
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A011, August 2–5, 2015
Paper No: DETC2015-47118
https://doi.org/10.1115/DETC2015-47118
View Paper titled, Kinematic Analysis of a Mechanism With Dual Remote Centre of Motion and its Potential Application
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Topics: Design engineering, End effectors, Instrumentation, Kinematic analysis, Linkages, Robotics, Surgery, Surgical tools
Proceedings Papers

Review, Categorization and Comparison of 1 DOF Static Balancers

Asthor T. Steinthorsson, Milton E. Aguirre, Gerard Dunning, Just L. Herder
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A018, August 2–5, 2015
Paper No: DETC2015-47217
https://doi.org/10.1115/DETC2015-47217
View Paper titled, Review, Categorization and Comparison of 1 DOF Static Balancers
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Topics: Bending (Stress), Design, Energy storage, Engines, Feedback, Haptics, Motors, Robotics, Stress, Surgical tools
Proceedings Papers

Tool-Tissue Force Estimation for a 3-DOF Robotic Surgical Tool

Baoliang Zhao, Carl A. Nelson
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A030, August 2–5, 2015
Paper No: DETC2015-46344
https://doi.org/10.1115/DETC2015-46344
View Paper titled, Tool-Tissue Force Estimation for a 3-DOF Robotic Surgical Tool
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Topics: Biological tissues, Robotics, Surgical tools, Haptics, Sterilization, Surgery, Delays, Engines, Feedback, Force sensors
Proceedings Papers

A Mechanical Comparison of Traditional and Minimally Invasive Acetabular Reamers for Total Hip Arthroplasty

Kari L. Puma, Mark T. Ehrensberger
Proc. ASME. IDETC-CIE2014, Volume 3: 16th International Conference on Advanced Vehicle Technologies; 11th International Conference on Design Education; 7th Frontiers in Biomedical Devices, V003T12A003, August 17–20, 2014
Paper No: DETC2014-35692
https://doi.org/10.1115/DETC2014-35692
View Paper titled, A Mechanical Comparison of Traditional and Minimally Invasive Acetabular Reamers for Total Hip Arthroplasty
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Topics: Arthroplasty, Biomechanics, Cutting, Orthopedics, Surgery, Surgical tools, Torque
Proceedings Papers

Multi-Quadrant Surgical Robot for Single Incision Laparoscopic Colectomy

E. J. Markvicka, R. L. McCormick, T. P. Frederick, J. R. Bartels, S. M. Farritor, D. Oleynikov
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A013, August 4–7, 2013
Paper No: DETC2013-13161
https://doi.org/10.1115/DETC2013-13161
View Paper titled, Multi-Quadrant Surgical Robot for Single Incision Laparoscopic Colectomy
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Topics: Robots, Surgery, Robotics, Cavities, End effectors, Feedback, Biological tissues, Degrees of freedom, Ergonomics, Haptics
Proceedings Papers

Deformation Characterization of Mouse Oocyte Cell Using Inverse Finite Element and Levenberg–Marquardt Optimization Algorithm in Needle Injection Experiment

Ali A. Abbasi, M. T. Ahmadian
Proc. ASME. IDETC-CIE2012, Volume 2: 32nd Computers and Information in Engineering Conference, Parts A and B, 847-852, August 12–15, 2012
Paper No: DETC2012-70025
https://doi.org/10.1115/DETC2012-70025
View Paper titled, Deformation Characterization of Mouse Oocyte Cell Using Inverse Finite Element and Levenberg–Marquardt Optimization Algorithm in Needle Injection Experiment
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Topics: Deformation, Finite element analysis, Needles, Optimization algorithms, Mechanical properties, Biological cells, Biomedicine, Engineering simulation, Simulation, Simulation results
Proceedings Papers

Optimal Design of Compliant Joint and Gripper for Miniature Robotic Devices: Application to Surgery

Christine Rotinat-Libersa, Belen Solano
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 393-402, August 12–15, 2012
Paper No: DETC2012-71515
https://doi.org/10.1115/DETC2012-71515
View Paper titled, Optimal Design of Compliant Joint and Gripper for Miniature Robotic Devices: Application to Surgery
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Topics: Design, Grippers, Robotics, Surgery, Stress, Blocks (Building materials), Dimensions, Displacement, End effectors, Manganese (Metal)
Proceedings Papers

A Design Method Based on Ant Colony Optimization for Compliant Mechanisms: Introduction and Application to a Surgical Tool

L. Rubbert, P. Renaud, J. Gangloff
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 229-238, August 12–15, 2012
Paper No: DETC2012-70383
https://doi.org/10.1115/DETC2012-70383
View Paper titled, A Design Method Based on Ant Colony Optimization for Compliant Mechanisms: Introduction and Application to a Surgical Tool
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Topics: Compliant mechanisms, Design methodology, Optimization, Surgical tools, Architecture, Design, Geometry, Robustness
Proceedings Papers

Design of a Multi-Contact-Aided Compliant Mechanism

Milton E. Aguirre, Mary Frecker
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 255-259, August 28–31, 2011
Paper No: DETC2011-48637
https://doi.org/10.1115/DETC2011-48637
View Paper titled, Design of a Multi-Contact-Aided Compliant Mechanism
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Topics: Compliant mechanisms, Design, Deflection, Stress, Engineering prototypes, Manufacturing, Surgery, Computer software, Deformation, Feedback
Proceedings Papers

On the Dynamic Modeling of a Bevel-Geared Surgical Robotic Mechanism

Xiaoli Zhang, Carl A. Nelson
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 19-28, August 15–18, 2010
Paper No: DETC2010-28371
https://doi.org/10.1115/DETC2010-28371
View Paper titled, On the Dynamic Modeling of a Bevel-Geared Surgical Robotic Mechanism
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Topics: Dynamic modeling, Robotics, Surgery, Design, Actuators, End effectors, Manipulators, Biological tissues, Control systems, Dynamic analysis
Proceedings Papers

Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator

Carl A. Nelson, Xiaoli Zhang
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 11-17, August 15–18, 2010
Paper No: DETC2010-28367
https://doi.org/10.1115/DETC2010-28367
View Paper titled, Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator
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Topics: Manipulators, Surgical tools, Design, Actuators, Gears, Kinematics, Manipulator design, Surgery
Proceedings Papers

Fabrication and Strength-Based Design of a Meso Forceps

M. E. Aguirre, G. Hayes, C. Yuangyai, M. Frecker, J. Adair, N. Antolino
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 325-333, August 30–September 2, 2009
Paper No: DETC2009-87557
https://doi.org/10.1115/DETC2009-87557
View Paper titled, Fabrication and Strength-Based Design of a Meso Forceps
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Topics: Design, Manufacturing, Optimization, Ceramics, Slurries, Strength (Materials), Tensile strength, Casting, Density, Ethanol